HuGe paper pretrains humanoid VLA models on egocentric human data for whole-body control
Yang Liu · hf · 2026-10-29
Researchers from Westlake University, Zhejiang University, SJTU and others released the HuGe paper on arXiv, proposing to pretrain vision-language-action models for humanoid robots on egocentric human and robot data.
- Addresses the costly real-world demonstrations and whole-body coordination needed to extend VLAs to humanoids
- Introduces pseudo-proprioception and visual adaptation to bridge the gap between human demonstrations and humanoid robots
- Aims at generalist whole-body humanoid control; project page and code are available
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