Author

Zhuo Li

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Preprint Sep 2026

WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination

WholeBodyWAM is introduced, which jointly predicts future visual dynamics, manipulation actions, and whole-body control intents for generalizable humanoid loco-manipulation and preserves pre-trained world-action priors while grounding heterogeneous whole-body controller (WBC) semantics and coordinating whole-body behav...

Zhuo Li, Yi-Ming Yao, Jim Tan et al. · 1 citation

#small language model Conference Open access Jul 2026

Reasoning Without Inference Cost: Latent Semantic Scaffolding for Robot VLA Policies

This work introduces Latent Semantic Scaffolding (LSS), an auxiliary loss applied during human-demonstration pretraining that aligns a VLA's action-token representations to text embeddings of physical-reasoning rationales through a small projection head.

A. Li, Zhuo Li, Zhe-Lin Yang et al. · Cyber .. · 3 citations