Author

A. Li

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#artificial intelligence Preprint Sep 2026

TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal in cluttered environments requires continuous geometry-aware whole-body adaptation, including coordinated arm placement, torso adjus...

A. Li, Yu-Xin Chen, Zhao-Bo Li et al. · 2 citations

#small language model Conference Open access Jul 2026

Reasoning Without Inference Cost: Latent Semantic Scaffolding for Robot VLA Policies

Vision-language-action (VLA) models are trained by imitation and capture what action to take but not why; adding causal reasoning improves manipulation, but current methods pay for it at inference time-generating reasoning tokens or rolling out predicted future states at every step, a cost that compounds over long hori...

A. Li, Zhuo Li, Zhe-Lin Yang et al. · Cyber .. · 3 citations