Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight

Ju Dong; Xinyu Xiao; Yiming Zhou; Tianshuo Yang; Xuerong Liu; Lei Zhang; Jian Chen; Haocheng Zhao; Yu Fu; Yujie Wei; Diwen Zheng; Alois Christian Knoll; Angela P. Schoellig; Ping Luo; Jianwei Zhang

arXiv · 2611.04839

Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight

Ju Dong·Xinyu Xiao·Yiming Zhou·Tianshuo Yang·Xuerong Liu·Lei Zhang·Jian Chen·Haocheng Zhao·Yu Fu·Yujie Wei·Diwen Zheng·Alois Christian Knoll·Angela P. Schoellig·Ping Luo·Jianwei Zhang

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Abstract

Humanoid loco-manipulation requires coordinated body motion and hand interaction over time, and a plausible-looking command sequence can still drop a held object or leave an interaction incomplete. We present action-conditioned latent foresight, a latent world-action model (WAM) that evaluates proposed command sequences before execution. An action generator proposes joint motion-hand command sequences from vision, language, and the robot state. An action-conditioned endpoint predictor estimates the visual features each sequence prefix reaches and measures progress toward a demonstration-derived subgoal, while a joint temporal prior scores temporal consistency given the robot state and preceding commands. The robot executes the first commands of the best-scoring sequence and replans from the next observation. During training, action consistency regularization reconstructs the first demonstrated command from observed and predicted feature changes, encouraging the predictor to retain action-relevant information. On ten tasks in the humanoid loco-manipulation simulation benchmark SIMPLE, our method achieves 89.7% average success, compared with 73.7% for Psi-Zero and 82.0% for DiT4DiT. On seven real-robot tasks, it achieves 85.7% under standard conditions and 65.7% under unseen object configurations, while GR00T N1.7 achieves 70.0% and 48.6%, respectively. Project page: https://ju6276.github.io/Action-Grounded-Foresight/

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Ju Dong, Xinyu Xiao, Yiming Zhou, Tianshuo Yang, Xuerong Liu, Lei Zhang, Jian Chen, Haocheng Zhao, Yu Fu, Yujie Wei, Diwen Zheng, Alois Christian Knoll, Angela P. Schoellig, Ping Luo, Jianwei Zhang. 2026-11-03. Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight. https://arxiv.org/abs/2611.04839

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