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

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Humanoid loco-manipulation requires robots to interpret task instructions and scene semantics while executing coordinated whole-body motions. We propose a hierarchical framework that uses motion keyframes as an intermediate representation between Vision-Language Model (VLM) planning and Reinforcement Learning (RL) control. Each keyframe specifies a target whole-body robot pose and, when applicable, an object pose. Given a language instruction, scene observations, and execution feedback, the VLM selects successive task-relevant keyframes from a predefined library. The selected keyframes are ret

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