Learning Expressive and Compositional Motion Representation via Spectral Skills

Robotic foundation models offer a promising path toward general-purpose humanoid robot control, often through hierarchical architectures. However, their effectiveness depends on the command interface between the planner and the controller, which must support accurate execution while remaining easy to predict, and ideally allow new behaviors to be composed from prior ones.

Aus dem Abstract. Unsere Zusammenfassung folgt.