Liu Cao

Grounding VLA policies with predictive, whole-body tactile representations boosts real-world humanoid loco-manipulation success by 43 percentage points over standard vision-proprioception approaches.

Purely autoregressive VLAs no longer require awkward hybrid diffusion heads to achieve fine-grained robot control: structuring discrete action tokenization as causally annealed flow matching recovers continuous diffusion precision while preserving end-to-end token efficiency.

Weave is presented, a unified framework for learning whole-body dexterous humanoid-object interaction from captured human demonstrations that converts captured human-object interactions into executable robot-object references through contact-aware retargeting and approach-motion completion.