---
license: mit
pipeline_tag: robotics
---

# OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation

This repository contains checkpoints for **OpenHLM**, a whole-body native vision-language-action (VLA) model that maps language and camera pixels directly to all of the humanoid robot's degrees of freedom.

- **Project Page:** [https://openhlm-project.github.io/](https://openhlm-project.github.io/)
- **Paper:** [OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation](https://huggingface.co/papers/2606.22174)

## Citation

```bibtex
@article{openhlm2026,
  title={OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation},
  author={Anonymous},
  journal={arXiv preprint arXiv:2606.22174},
  year={2026}
}
```