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ADAPT maps text commands to whole-body humanoid control

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ADAPT uses a diffusion action prior to map language and robot state directly to whole-body actions, letting humanoids react to changing text commands without first generating a motion plan while preserving balance and natural motion.

ADAPT人形机器人humanoid文本控制text-driven control扩散模型diffusion model动作先验action prior全身控制whole-body control强化学习reinforcement learning敏捷运动agile locomotion语言指令language commandsTwitter
Category: humanoid
Author: @robotsdigest
Date: 2026-09-02T00:00:00
Duration: 237.637s
Source: https://x.com/robotsdigest/status/2095195050934505572
Reference: https://arxiv.org/abs/2609.00677

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