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ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
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 g
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. ADAPT learns a diffusion-based action prior from text-labeled humanoid state-action trajectories, enabling diverse motion skills to be directly executed from language commands. To improve long-horizon robustness and smooth prompt switching, we train a lightweight residual reinforcement learning policy on top of the frozen diffusion controller. We further show that the same diffusion policy can be reused as a steerable text-conditioned motion prior for downstream task adaptation. Experiments demonstrate robust language-grounded skill execution, smooth interactive transitions, and style-preserving downstream control.
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Source: arXiv cs.RO | 2026-09-02