# From Tabletop to Walking Robot: Deploying a VLA Model on a Legged Manipulation Robot

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/wg50ic2zntpypleh8x55bzzbt
- Original: https://arxiv.org/abs/2610.32271

## Summary

The research team deployed a VLA model on a Unitree Go2 quadruped equipped with an AgileX Piper robotic arm, achieving closed-loop mobile manipulation, and reported choices such as model variant, action horizon, and demonstration conventions that made real-robot deployment feasible. For the pick-and-place task, expanding demonstration coverage reduced held-out end-effector error by 30%, and adding secondary skills such as pushing introduced new behavior modes without degrading baseline performance. Closed-loop real-robot experiments showed that dataset composition affects task success.