[2026-06-04] ingest | LEGS/3DGS 人形 VLA loco-manip（微信专题 + arXiv:2606.01458）#509
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…dgs_loco_manip.md — Agent Reach 抓取 LEGS/3DGS 人形 VLA loco-manip 专题并沉淀论文实体 Co-authored-by: Chong Liu <chongliu2021@163.com>
Co-authored-by: Chong Liu <chongliu2021@163.com>
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Co-authored-by: Chong Liu <chongliu2021@163.com>
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摘要
force-include重复文件）与 wechat 渠道（Camoufox），抓取微信公众号文章 https://mp.weixin.qq.com/s/B1sYOPKg6TQwnNGs-_8NDw（具身智能研究室 · 斯坦福 LEGS 专题）。sources/blogs/wechat_embodied_ai_lab_legs_vla_3dgs_loco_manip.md、sources/papers/legs_arxiv_2606_01458.md、sources/sites/legsvla-github-io.md、sources/raw/wechat_legs_vla_3dgs_2026-06-04.md。wiki/entities/paper-legs-embodied-gaussian-splatting-vla.md（含 Mermaid 管线总览、与 teleop / SAM3D / VIRAL 对比表）。loco-manipulation（新增路线 9）、vla、sonic-motion-tracking、gs-playground等。知识要点（编译）
LEGS（arXiv:2606.01458）用 3DGS 背景 + SAM3D mesh 前景 + MuJoCo/Sonic 合成无遥操作 loco-manip 演示；motion 与 appearance 解耦后可 GPU 重渲染 增广。在 Unitree G1 上微调 ψ0 / π0.5 / GR00T N1.6，纯 LEGS 数据 匹配或超过 50-demo teleop；长时程 Task 3 上 teleop 可 0/10 而 LEGS(200) 仍有个位数成功。
验证
make ci-preflight通过（lint 全绿，export 12/12）entity-paper-legs-embodied-gaussian-splatting-vla渲染正常验证截图