mlsanityData to 7 Oct 2026

Humanoid-VLA: Towards Universal Humanoid Control with Visual Integration

arXiv 2502.14795 ↗First posted 20 Feb 2025cs.RO cs.CVcited by 43

Not on the map. Why?

Cited by 25 in Vision-language-action models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

This paper addresses the limitations of current humanoid robot control frameworks, which primarily rely on reactive mechanisms and lack autonomous interaction capabilities due to data scarcity. We propose Humanoid-VLA, a novel framework that integrates language understanding, egocentric scene perception, and motion control, enabling universal humanoid control. Humanoid-VLA begins with language-motion pre-alignment using non-egocentric human motion datasets paired with textual descriptions, allowing the model to learn universal motion patterns and action semantics. We then incorporate egocentric visual context through a parameter efficient video-conditioned fine-tuning, enabling context-aware motion generation. Furthermore, we introduce a self-supervised data augmentation strategy that automatically generates pseudoannotations directly derived from motion data. This process converts raw motion sequences into informative question-answer pairs, facilitating the effective use of large-scale unlabeled video data. Built upon whole-body control architectures, extensive experiments show that Humanoid-VLA achieves object interaction and environment exploration tasks with enhanced contextual awareness, demonstrating a more human-like capacity for adaptive and intelligent engagement.

Key facts. Cited by 43 papers in the map (data through 7 Oct 2026). Builds on 33 of its 40 references that are in the map. First posted on arXiv 20 Feb 2025.

Builds on

33 of 40 references.

References · 33

  1. 2023GPT-4 Technical Reportcited by 18,132
  2. 2017Proximal Policy Optimization Algorithmscited by 14,441
  3. 2024The Llama 3 Herd of Modelscited by 14,192
  4. 2017Neural Discrete Representation Learningcited by 4,650
  5. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  6. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  7. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,297
  8. 2023Video-LLaMA: An Instruction-tuned Audio-Visual Language Model for Video Understandingcited by 1,461
  9. 2019AMASS: Archive of Motion Capture as Surface Shapescited by 1,208
  10. 2022Human Motion Diffusion Modelcited by 1,062
  11. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 882
  12. 2023VILA: On Pre-training for Visual Language Modelscited by 686
21 more
  1. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulationcited by 670
  2. 2023T2M-GPT: Generating Human Motion from Textual Descriptions with Discrete Representationscited by 577
  3. 2020Action2Motion: Conditioned Generation of 3D Human Motionscited by 438
  4. 2024GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulationcited by 290
  5. 2023Motion-X: A Large-scale 3D Expressive Whole-body Human Motion Datasetcited by 220
  6. 2023Perpetual Humanoid Control for Real-time Simulated Avatarscited by 198
  7. 2024OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learningcited by 167
  8. 2024Expressive Whole-Body Control for Humanoid Robotscited by 117
  9. 2024Learning Human-to-Humanoid Real-Time Whole-Body Teleoperationcited by 112
  10. 2024TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videoscited by 105
  11. 2024RoboMamba: Efficient Vision-Language-Action Model for Robotic Reasoning and Manipulationcited by 102
  12. 2024ExBody2: Advanced Expressive Humanoid Whole-Body Controlcited by 75
  13. 2023QUAR-VLA: Vision-Language-Action Model for Quadruped Robotscited by 55
  14. 2024Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Controlcited by 41
  15. 2024Learning from Massive Human Videos for Universal Humanoid Pose Controlcited by 27
  16. 2024Harmon: Whole-Body Motion Generation of Humanoid Robots from Language Descriptionscited by 22
  17. 2024HumanVLA: Towards Vision-Language Directed Object Rearrangement by Physical Humanoidcited by 17
  18. 2024Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimickingcited by 14
  19. 2024QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learningcited by 9
  20. 2023Online Non-linear Centroidal MPC for Humanoid Robots Payload Carrying with Contact-Stable Force Parametrizationcited by 3
  21. 2023Dynamic Loco-manipulation on HECTOR: Humanoid for Enhanced ConTrol and Open-source Researchcited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 25; 2026: 18.

43 papers.

Sort:

By area:

  1. 2026GigaWorld-Policy: An Efficient Action-Centered World--Action Modelcited by 129
  2. 2025Unified Vision-Language-Action Modelcited by 128
  3. 2025PointVLA: Injecting the 3D World into Vision-Language-Action Modelscited by 101
  4. 2025Vision-Language-Action Models for Robotics: A Review Towards Real-World Applicationscited by 82
  5. 2025Vision-Language-Action (VLA) Models: Concepts, Progress, Applications and Challengescited by 72
  6. 2025InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactionscited by 67
  7. 2025Large VLM-based Vision-Language-Action Models for Robotic Manipulation: A Surveycited by 66
  8. 2025VLA-RFT: Vision-Language-Action Reinforcement Fine-tuning with Verified Rewards in World Simulatorscited by 65
  9. 2025WorldEval: World Model as Real-World Robot Policies Evaluatorcited by 64
  10. 2025ChatVLA-2: Vision-Language-Action Model with Open-World Embodied Reasoning from Pretrained Knowledgecited by 49
  11. 2025Long-VLA: Unleashing Long-Horizon Capability of Vision Language Action Model for Robot Manipulationcited by 48
  12. 2025Pure Vision Language Action (VLA) Models: A Comprehensive Surveycited by 46
31 more
  1. 2025LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instructioncited by 40
  2. 2025Vision Language Action Models in Robotic Manipulation: A Systematic Reviewcited by 38
  3. 2025A Survey on Efficient Vision-Language-Action Modelscited by 34
  4. 2025WholeBodyVLA: Towards Unified Latent VLA for Whole-Body Loco-Manipulation Controlcited by 32
  5. 2025dVLA: Diffusion Vision-Language-Action Model with Multimodal Chain-of-Thoughtcited by 30
  6. 2025AnyPos: Automated Task-Agnostic Actions for Bimanual Manipulationcited by 23
  7. 2025ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrationscited by 17
  8. 2025EchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulationcited by 15
  9. 2026ActiveVLA: Injecting Active Perception into Vision-Language-Action Models for Precise 3D Robotic Manipulationcited by 14
  10. 2026VLANeXt: Recipes for Building Strong VLA Modelscited by 12
  11. 2026HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulationcited by 10
  12. 2026What Matters in Orchestrating Robot Policies: A Systematic Study of Hierarchical VLA Agentscited by 9
  13. 2025SENTINEL: A Fully End-to-End Language-Action Model for Humanoid Whole Body Controlcited by 7
  14. 2025UniAct: Unified Motion Generation and Action Streaming for Humanoid Robotscited by 5
  15. 2025An Anatomy of Vision-Language-Action Models: From Modules to Milestones and Challengescited by 4
  16. 2026Self-Supervised Bootstrapping of Action-Predictive Embodied Reasoningcited by 3
  17. 2025TrajBooster: Boosting Humanoid Whole-Body Manipulation via Trajectory-Centric Learningcited by 2
  18. 2026PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Trackingcited by 2
  19. 2026VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenescited by 2
  20. 2026Iterative Closed-Loop Motion Synthesis for Scaling the Capabilities of Humanoid Controlcited by 1
  21. 2026TMR-VLA:Vision-Language-Action Model for Magnetic Motion Control of Tri-leg Silicone-based Soft Robotcited by 1
  22. 2026HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RLcited by 1
  23. 2026Self-Evolving AI for Humanoids: Mechanisms, Safety, and Evaluation of Post-Deployment Self-Improvementcited by 1
  24. 2025LHM-Humanoid: Long-Horizon Human Motion Control for Continuous Object Transport in Cluttered Scenescited by 0
  25. 2025Endowing GPT-4 with a Humanoid Body: Building the Bridge Between Off-the-Shelf VLMs and the Physical Worldcited by 0
  26. 2026Dynamic Full-body Motion Agent with Object Interaction via Blending Pre-trained Modular Controllerscited by 0
  27. 2026TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Modelcited by 0
  28. 2026WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priorscited by 0
  29. 2026Opt2VLA: Force-Aware Vision-Language-Action for Contact-Rich Humanoid Whole-Body Manipulationcited by 0
  30. 2026Uni-VLaT: Whole-Body Tactile Adaptation of VLA Policies for Humanoid Loco-Manipulationcited by 0
  31. 2026InterEvolve: Test-Time Evolution of Reward Programs for Humanoid Loco-Manipulationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026WOLF-VLA: Whole-Body Humanoid Optimal Locomotion Framework for Vision-Language-Action Learning
  2. 2026EgoActor: Grounding Task Planning into Spatial-aware Egocentric Actions for Humanoid Robots via Visual-Language Models
  3. 2026ZeroWBC: Learning Natural Whole-Body Humanoid Interaction from Human Egocentric Data
  4. 2025Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
  5. 2026Human-as-Humanoid: Enabling Zero-Shot Humanoid Learning from Ego-Exo Human Videos with Human-Aligned Embodiments
  6. 2026EgoPriMo: Egocentric Motion Generation for Interactive Humanoid Control
  7. 2026PhysiFlow: Physics-Aware Humanoid Whole-Body VLA via Multi-Brain Latent Flow Matching and Robust Tracking
  8. 2026Humanoid Loco-Manipulation With Discrete VLA Model