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arXiv · 2603.05410

PhysiFlow: Physics-Aware Humanoid Whole-Body VLA via Multi-Brain Latent Flow Matching and Robust Tracking

Weikai Qin·Sichen Wu·Ci Chen·Mengfan Liu·Linxi Feng·Xinru Cui·Haoqi Han·Hesheng Wang
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Abstract

In the domain of humanoid robot control, the fusion of Vision-Language-Action (VLA) with whole-body control is essential for semantically guided execution of real-world tasks. However, existing methods encounter challenges in terms of low VLA inference efficiency or an absence of effective semantic guidance for whole-body control, resulting in instability in dynamic limb-coordinated tasks. To bridge this gap, we present a semantic-motion intent guided, physics-aware multi-brain VLA framework for humanoid whole-body control. A series of experiments was conducted to evaluate the performance of the proposed framework. The experimental results demonstrated that the framework enabled reliable vision-language-guided full-body coordination for humanoid robots.

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Weikai Qin, Sichen Wu, Ci Chen, Mengfan Liu, Linxi Feng, Xinru Cui, Haoqi Han, Hesheng Wang. 2026-03-05. PhysiFlow: Physics-Aware Humanoid Whole-Body VLA via Multi-Brain Latent Flow Matching and Robust Tracking. https://arxiv.org/abs/2603.05410

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