@misc{qin2026wbwamheterogeneousbodyhandpretraining,
  title={WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation},
  author={Chuan Qin and Shaoting Zhu and Siyuan Luo and Siqiao Huang and Hongyu Zhao and Hang Zhao},
  year={2026},
  eprint={2609.34199},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2609.34199},
}