Preprint
Sep 2026
Humanoid Loco-Manipulation With Discrete VLA Model
Vision-language-action (VLA) models using discrete action tokens have proven effective for controling robotic arms on manipulation tasks. For a humanoid, however, the whole-body action space -- legs, torso, arms, and hands -- is far higher-dimensional and heterogeneous, raising tokenization, training, and real-time inf...
Wen-Xin Shao, Si-Qi Chai, Kun Li et al.
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