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LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World
Training vision-language-action (VLA) policies for humanoid loco-manipulation is constrained by the high cost and complexity of collecting human teleoperation demonstrations. VLA policies fine-tuned in simulators have so far transferred poorly to humanoid loco-manipulation tasks. We present LEGS (Lo
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