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ViLoMan: Learning Visual-Proprioceptive Whole-Body Loco-Manipulation Skills for Humanoid Robots

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

Humanoid loco-manipulation requires adaptive whole-body coordination to seamlessly integrate locomotion and physical interaction. Despite recent advances, learning autonomous loco-manipulation remains challenging due to the scarcity of diverse, physically executable robot-object interaction data and the difficulty of learning unified whole-body control directly from onboard observations. We present ViLoMan, a scalable framework for autonomous humanoid loco-manipulation. ViLoMan first transforms partial kinematic demonstrations of human-object interactions into complete, physically executable r

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