CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation

Humanoid robots have achieved impressive locomotion performance, yet contact-rich and long-horizon manipulation remains a major bottleneck. Manipulation is inherently contact-rich and demands compliant whole-body control for stable interaction, while its diversity and long-horizon nature favor modular, planner-compatible interfaces over joint-space tracking. We propose CEER, a compliant end-effector-root (EE-root) control abstraction for modular humanoid loco-manipulation within a hierarchical planning framework. CEER enables compliance-aware whole-body control in an interpretable task space defined by root motion commands and end-effector pose targets, and supports plug-and-play integration with heterogeneous high-level planners. A teacher-student framework is adopted to distill a general motion-tracking controller into a low-level policy that consumes only EE-root commands. We further construct a hierarchical system that integrates heterogeneous planners and task modules through the EE-root interface, enabling diverse manipulation tasks without retraining the underlying whole-body policy. Experiments in simulation and on hardware demonstrate 3.3 cm end-effector tracking accuracy with substantially reduced jerk compared to baselines, stable contact-rich manipulation under teleoperation, and up to 70% success in simulated single-object loco-manipulation tasks within a room-scale environment. These results indicate that compliant EE-root control provides a practical abstraction for humanoid loco-manipulation, enabling modular and scalable integration of diverse skills.

How Vision Becomes Language: A Layer-wise Information-Theoretic Analysis of Multimodal Reasoning

When a multimodal Transformer answers a visual question, is the prediction driven by visual evidence, linguistic reasoning, or genuinely fused cross-modal computation -- and how does this structure evolve across layers? We address this question with a layer-wise framework based on Partial Information Decomposition (PID) that decomposes the predictive information at each Transformer layer into redundant, vision-unique, language-unique, and synergistic components. To make PID tractable for high-dimensional neural representations, we introduce \emph{PID Flow}, a pipeline combining dimensionality reduction, normalizing-flow Gaussianization, and closed-form Gaussian PID estimation. Applying this framework to LLaVA-1.5-7B and LLaVA-1.6-7B across six GQA reasoning tasks, we uncover a consistent \emph{modal transduction} pattern: visual-unique information peaks early and decays with depth, language-unique information surges in late layers to account for roughly 82\% of the final prediction, and cross-modal synergy remains below 2\%. This trajectory is highly stable across model variants (layer-wise correlations $>$0.96) yet strongly task-dependent, with semantic redundancy governing the detailed information fingerprint. To establish causality, we perform targeted Image$\rightarrow$Question attention knockouts and show that disrupting the primary transduction pathway induces predictable increases in trapped visual-unique information, compensatory synergy, and total information cost -- effects that are strongest in vision-dependent tasks and weakest in high-redundancy tasks. Together, these results provide an information-theoretic, causal account of how vision becomes language in multimodal Transformers, and offer quantitative guidance for identifying architectural bottlenecks where modality-specific information is lost.