Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control
Natural language is an intuitive interface for humanoid robots, yet streaming whole-body control requires control representations that are executable now and anticipatory of future physical transitions. Existing language-conditioned humanoid systems typically generate kinematic references that a low-level tracker must repair reactively, or use latent/action policies whose outputs do not explicitly encode upcoming contact changes, support transfers, and balance preparation. We propose \textbf{DAJI} (\emph{Dynamics-Aligned Joint Intent}), a hierarchical framework that learns an anticipatory joint-intent interface between language generation and closed-loop control. DAJI-Act distills a futur...
| Authors | Haozhe Jia, Honglei Jin, Yuan Zhang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 14 May 2026 |
| Last updated at source | 20 May 2026 |
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