# Autonomous Behavior Planning For Humanoid Loco-manipulation Through Grounded Language Model

arXiv: https://arxiv.org/abs/2408.08282 · HTML: https://mlsanity.com/paper/2408.08282/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- Builds on 18 of its 27 references that are in the map.
- First posted on arXiv 15 Aug 2024.

## Builds on (most cited first, 18 of 18)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [VQA: Visual Question Answering](https://mlsanity.com/paper/1505.00468/) (2015)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [RT-1: Robotics Transformer for Real-World Control at Scale](https://mlsanity.com/paper/2212.06817/) (2022)
- [Code as Policies: Language Model Programs for Embodied Control](https://mlsanity.com/paper/2209.07753/) (2022)
- [Language Models as Zero-Shot Planners: Extracting Actionable Knowledge for Embodied Agents](https://mlsanity.com/paper/2201.07207/) (2022)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Models](https://mlsanity.com/paper/2307.05973/) (2023)
- [Vid2Seq: Large-Scale Pretraining of a Visual Language Model for Dense Video Captioning](https://mlsanity.com/paper/2302.14115/) (2023)
- [Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects](https://mlsanity.com/paper/1809.10790/) (2018)
- [Task and Motion Planning with Large Language Models for Object Rearrangement](https://mlsanity.com/paper/2303.06247/) (2023)
- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols](https://mlsanity.com/paper/1502.03143/) (2015)
- [A Survey of Behavior Trees in Robotics and AI](https://mlsanity.com/paper/2005.05842/) (2020)
- [Combining Learning-based Locomotion Policy with Model-based Manipulation for Legged Mobile Manipulators](https://mlsanity.com/paper/2201.03871/) (2022)
- [Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation](https://mlsanity.com/paper/2308.09179/) (2023)
- [Whole-body MPC for highly redundant legged manipulators: experimental evaluation with a 37 DoF dual-arm quadruped](https://mlsanity.com/paper/2310.02907/) (2023)

## Built on by (most cited first, 8 of 8)

- [Let Humanoids Hike! Integrative Skill Development on Complex Trails](https://mlsanity.com/paper/2505.06218/) (2025)
- [Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation](https://mlsanity.com/paper/2504.09532/) (2025)
- [Vision-Language-Policy Model for Dynamic Robot Task Planning](https://mlsanity.com/paper/2512.19178/) (2025)
- [Cybo-Waiter: A Physical Agentic Framework for Humanoid Whole-Body Locomotion-Manipulation](https://mlsanity.com/paper/2603.10675/) (2026)
- [Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation](https://mlsanity.com/paper/2607.18016/) (2026)
- [Grounding Language Models in Autonomous Loco-manipulation Tasks](https://mlsanity.com/paper/2409.01326/) (2024)
- [HiBerNAC: Hierarchical Brain-inspired Robotic Neural Agent Collective for Disentangling Complex Manipulation](https://mlsanity.com/paper/2506.08296/) (2025)
- [INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLM](https://mlsanity.com/paper/2508.04931/) (2025)

## Abstract (arXiv)

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in long-horizon tasks while using multi-modality to perceive deviations between task execution and high-level planning. Recently, large language models (LLMs) have demonstrated powerful planning and reasoning capabilities for comprehension and processing of semantic information through robot control tasks, as well as the usability of analytical judgment and decision-making for multi-modal inputs. To leverage the power of LLMs towards humanoid loco-manipulation, we propose a novel language-model based framework that enables robots to autonomously plan behaviors and low-level execution under given textual instructions, while observing and correcting failures that may occur during task execution. To systematically evaluate this framework in grounding LLMs, we created the robot 'action' and 'sensing' behavior library for task planning, and conducted mobile manipulation tasks and experiments in both simulated and real environments using the CENTAURO robot, and verified the effectiveness and application of this approach in robotic tasks with autonomous behavioral planning.