October 10, 2025Open Access

Humanoid Agent via Embodied Chain-of-Action Reasoning with Multimodal Foundation Models for Zero-Shot Loco-Manipulation

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Humanoid-COA enhances zero-shot loco-manipulation in humanoid robots, implying improved task performance and generalization.

The humanoid-COA framework enables effective zero-shot loco-manipulation in robots, marking a significant advancement in robotic assistance.
Extensive experimentation reveals that humanoid-COA outperforms existing models in locomotion and manipulation tasks by a substantial margin.
Reasoning in humanoid-COA transforms high-level human instructions into actionable locomotion and manipulation sequences, enhancing robot adaptability.
Effective deployment of the humanoid agent relies on its ability to generalize across various tasks and environments, solving a critical robotic challenge.

Wen et al. (2025) studied this question.

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