SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physical hallucinations, producing motion trajectories that are physically infeasible to track with a downstream motion tracking controller or unsafe for real-world deployment. These failures often arise from the lack of explicit physics-aware objectives for real-robot execution and become more severe under out-of-distribution (OOD) user inputs. Hence, we propose SafeFlow, a text-driven humanoid whole-body control framework that combines physics-guided motion generation with a 3-Stage Safety Gate driven by explicit ri...
| Authors | Hanbyel Cho, Sang-Hun Kim, Jeonguk Kang et al. |
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| Primary category | cs.RO |
| Published | 25 March 2026 |
| Last updated at source | 15 September 2026 |
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