Melya Boukheddimi, Omar Adjali, Daniel Sontag et al.
Vision-Language-Action (VLA) models have recently demonstrated strong generalization in robotic manipulation, yet their applicability to whole-body, contact-rich humanoid locomotion remains severely underexplored due to data scarcity, the absence of dynamically consistent demonstrations, and the difficulty of encoding optimality and safety in learning-based pipelines. This work introduces a unified framework WOLF-VLA that integrates whole-body optimal-control (OC) motion synthesis with large-scale multi-modal dataset to train VLAs capable of generating humanoid locomotion policies directly from natural-language instructions. We construct a comprehensive dataset of dynamically feasible humanoid trajectories across six locomotion-related task families, each parameterized by environmental variations, object colors, placements, and visual distractors. We train a VLA model using the collected joint trajectories, ego-centric visual observations and natural language instruction, yielding a policy that exhibits strong reasoning and robustness to initial-condition variability, and competitive performance across several tasks and environment settings. A systematic ablation study demonstrates the impact of each modality on the model performance. The full dataset, model checkpoints, and benchmarking simulation suite will be openly released, establishing a reproducible dynamically consistent benchmark for whole-body humanoid locomotion rich VLA control and enabling future research in scalable transfer of instruction-driven locomotion policies.