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TANGO: Humanoid Navigation in Cluttered Environments with a Whole-Body Vision-Language-Action Model

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

We study the problem of navigating cluttered indoor environments with a humanoid robot. Unlike conventional methods that model navigation as a 2D path planning problem, humanoid traversal in cluttered environments requires continuous geometry-aware whole-body adaptation, including coordinated arm placement, torso adjustment, and gait modulation for collision-free movement through complex 3D spaces. We introduce TANGO, the first whole-body vision-language navigation framework for language-conditioned humanoid traversal in cluttered environments. Given a natural-language instruction and egocentr

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