PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control
Diffusion models provide a flexible framework for motion generation, but turning this flexibility into closed-loop humanoid control remains challenging. Hierarchical generator-tracker systems steer motion through reference trajectories, yet these references may exceed the capabilities of the downstream tracker, leaving physical feasibility and disturbance recovery largely to a separate control module. Action-only diffusion avoids this separation by directly generating executable actions, but provides no explicit future-state trajectory that can be steered toward test-time motion objectives. Joint state-action diffusion offers a natural alternative, but existing controllers often rely on p...
| Authors | Lei Ye, Haibo Gao, Yitang Li et al. |
|---|---|
| Primary category | cs.RO |
| Published | 21 September 2026 |
| Last updated at source | 5 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.