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ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control
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 mu
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