# SP-HLM: Sparse-Pose-Driven Motion Generation and Whole-Body Control Framework for Humanoid Loco-Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/iag39jljbbo9rzbwazu2whb0h
- Original: https://arxiv.org/abs/2610.30044

## Summary

SP-HLM proposes a sparse-pose-driven interface framework that uses five task-critical body poses plus a learned implicit motion prior to represent spatial intent and whole-body coordination in complementary forms. The SP-VLA vision-language-action model first predicts task-relevant sparse poses and finger joint positions from multimodal observations and language instructions via asynchronous action-chunk inference. The SP-MGM motion generation model, trained through two-stage distillation, reconstructs coordinated full-body motion in real time, and the SP-GMT general motion tracker then combines the explicit sparse targets with the implicit motion prior for whole-body control.