# Nexus-VLA: Connecting Human and Robot Experience with a Shared Hierarchical Semantic Latent Space

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/yag1dmhfi4wfyoa9371nk5hfp
- Original: https://arxiv.org/abs/2610.42021

## Summary

The authors propose Nexus-VLA, a hybrid policy learning framework that enables cross-embodiment knowledge transfer through end-to-end human-robot joint training, allowing human manipulation experience to directly contribute to robot policy learning. The framework first establishes hierarchical cross-embodiment semantic alignment from task intent to fine-grained interactions, then encodes multi-level shared knowledge into a shared manipulation latent representation used directly for continuous action generation. In RoboCasa-GR1, OOD settings, and real-robot experiments, Nexus-VLA achieved an 80.5% task success rate on RoboCasa-GR1.