Uni-VLaT: Whole-Body Tactile Adaptation of VLA Policies for Humanoid Loco-Manipulation

arXiv:2609.35450 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-30

Terminology

• Adaptation — 13× in this paper · explained in 1 episode
• Ablation — 12× in this paper · explained in 1 episode
• Transformer — 6× in this paper · explained in 2 episodes
• Embeddings — 4× in this paper · explained in 2 episodes
• Grounding — 4× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Latent Space — 2× in this paper · explained in 7 episodes
• Tokenization — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Action Decoder — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Gradient Flow — 1× in this paper · explained in 2 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Self-Supervised Learning — 1× in this paper · explained in 8 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• Octo: An Open-Source Generalist Robot Policy
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control
• WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Control
• OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
• Beyond Sight: Finetuning Generalist Robot Policies with Heterogeneous Sensors via Language Grounding
• WT-UMI: Tactile-based Whole-Body Manipulation via Force-Supervised Contact-Aware Planning
• Learning Versatile Humanoid Manipulation with Touch Dreaming
• RT-1: Robotics Transformer for Real-World Control at Scale
• PaLM-E: An Embodied Multimodal Language Model
• RoboCat: A Self-Improving Generalist Agent for Robotic Manipulation
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation
• FAST: Efficient Action Tokenization for Vision-Language-Action Models
• CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation

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