Series

Wholebodyvla Data Wbc

The "Wholebodyvla Data Wbc" series has 7 parts — read them in order from part 1.

wholebody-vlahumanoidvlaPart 1

A beginner map of the WholeBodyVLA stack: VLM, two LAMs, 10 Hz decoder, and 50 Hz LMO control.

6/10/202615 min read

wholebody-vlahumanoidlamPart 2

Design a low-cost egocentric video protocol for WholeBodyVLA-style locomotion LAM pretraining.

6/10/202617 min read

wholebody-vlahumanoidretargetingPart 3

Trace two real retargeting paths: H2O/OmniH2O with AMASS SMPL+H and GMR with SMPL-X, BVH, FBX, and PICO.

6/10/202618 min read

wholebody-vlahumanoidteleoperationPart 4

Compare TWIST and HOMIE to design a whole-body teleop data station for Unitree G1.

6/10/202617 min read

wholebody-vlahumanoidreinforcement-learningPart 5

From H2O, OmniH2O, and TWIST to LMO RL: reproducible controller training for WholeBodyVLA.

6/10/202616 min read

wholebody-vlahumanoidsim-to-realPart 6

A practical sim-to-real checklist for Unitree G1: motion files, JIT checkpoints, Redis, MuJoCo, and network setup.

6/10/202615 min read

wholebody-vlahumanoidevaluationPart 7

Turn WholeBodyVLA's evaluation table into practical subgoal scorecards, ablations, and failure logs for humanoid testing.

6/10/202614 min read