WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control

Understand

Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks.

• Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion.
• This confines the robot to a limited workspace, preventing it from performing large-space loco-manipulation.
• We attribute this to: (1) the challenge of acquiring loco-manipulation knowledge due to the scarcity of humanoid teleoperation data, and (2) the difficulty of faithfully and reliably executing locomotion commands, stemming from the limited precision and stability of existing RL controllers.