KINO: A Keyframe Interface for VLM Planning and Whole-Body Control in Humanoid Loco-Manipulation

arXiv:2609.18869 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Terminology

• Foundation Model — 4× in this paper · explained in 3 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Task Planning — 3× in this paper · explained in 2 episodes
• VLA Models — 3× in this paper · explained in 3 episodes
• ACM Transactions on Graphics — 2× in this paper
• Foundation Models — 2× in this paper · explained in 7 episodes
• Vision-Language Model — 2× in this paper
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Hierarchical Framework — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Temporal Reasoning — 1× in this paper · explained in 2 episodes
• Vision-Language Model (VLM) — 1× in this paper · explained in 3 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• PaLM-E: An Embodied Multimodal Language Model
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• OmniRetarget: Interaction-Preserving Data Generation for Humanoid Whole-Body Loco-Manipulation and Scene Interaction
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• Expressive Whole-Body Control for Humanoid Robots
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
• MimicKit: A Reinforcement Learning Framework for Motion Imitation and Control
• Behavior Foundation Model for Humanoid Robots
• HumanPlus: Humanoid Shadowing and Imitation from Humans
• OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• Learning Physical Interaction Skills from Human Demonstrations
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• SoftMimic: Learning Compliant Whole-body Control from Examples
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• NaVILA: Legged Robot Vision-Language-Action Model for Navigation
• VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models
• VLMPC: Vision-Language Model Predictive Control for Robotic Manipulation

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