arXiv:2607. 20399v1 Announce Type: cross Abstract: Full-sized humanoid robot capabilities have grown exponentially in recent years, aiming towards general-purpose deployment in human environments.
By Nicolas Kosanovic, Jordan Dowdy, Jean Chagas Vaz
Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicable to humanoid whole-body loco-manipulation. The high dimensionality and interdependence of humanoid motions make it challenging for conventional single-stage VLA architectures to coordinate locomotion, waist posture, and dual-arm manipulation effectively.
arXiv:2606. 17011v1 Announce Type: cross Abstract: Human interventions provide crucial corrective signals for post-training Vision-Language-Action (VLA) models.
By Wei Xiao, Weiliang Tang, Yuying Ge, Hui Zhou, Yao Mu, Li Zhang, Yixiao Ge
AdaptManip is a fully autonomous framework that enables humanoid robots to navigate, lift, and deliver objects without human demonstrations. It combines a recurrent state estimator for real‑time object tracking, a whole‑body locomotion policy with residual manipulation control, and a LiDAR‑based global position estimator. Trained entirely in simulation with reinforcement learning, the system achieves zero‑shot deployment on real hardware, outperforming imitation‑learning baselines in adaptability and success rate.
By Morgan Byrd, Donghoon Baek, Kartik Garg, Hyunyoung Jung, Daesol Cho, Maks Sorokin, Robert Wright, Sehoon Ha
arXiv:2606. 11743v1 Announce Type: cross Abstract: Vision-language-action (VLA) models provide strong visual, language, and action priors for robot manipulation, but visual observations alone often miss the local contact state required for contact-rich tasks.
By Siyu Ma, Yuqi Liang, Chang Yu, Yunuo Chen, Hao Su, Yixin Zhu, Yin Yang, Chenfanfu Jiang
arXiv:2608. 16837v1 Announce Type: cross Abstract: Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicable to humanoid whole-body loco-manipulation.
By Langzhe Gu, Chengkai Hou, Meng Li, Xinhua Wang, Jiaming Liu, Xinyuan Lv, Bowei Zhang, Shuanghao Bai, Guangrun Li, Jingyang He, Gaole Dai, Ziluo Ding, Zhiyuan Xu, Kuan Cheng, Jian Tang, Zhengping Che, Shanghang Zhang