01Long Horizon Humanoid Loco-ManipulationLong-horizon loco-manipulation takes a humanoid beyond what its ego view can show. To act across a room, it needs an internal spatial model that connects visible objects with remembered locations and helps resolve ambiguous requests. This context guides where to go, what to act on and how to sequence walking and manipulation. HomeBody combines that spatial memory with composable skills whose execution feedback lets the VLM revise its next decision when an...