ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2609.00677v1 Announce Type: new Abstract: We present ADAPT, an end-to-end framework for interactive, text-conditioned humanoid whole-body control. Unlike dominant text-to-motion pipelines that generate kinematic motions for a separate tracker, ADAPT solves language control with an end-to-end closed-loop control framework, where the robot must continuously respond to changing commands while maintaining balance, natural motion, and smooth transitions.