Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary

arXiv:2511.22963v2 Announce Type: replace-cross Abstract: Enabling humanoid robots to follow free-form language commands is critical for seamless human-robot interaction, collaborative task execution, and general-purpose embodied intelligence. While recent advances have improved low-level humanoid locomotion and robot manipulation, language-conditioned whole-body control remains a significant challenge. Existing methods are often limited to simple instructions and sacrifice either motion diversi