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ADAPT: Real-Time Text-Driven Humanoid Whole-Body Control

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ADAPT maps changing text commands directly to closed-loop whole-body actions with a diffusion action prior and residual RL, enabling 50 Hz control and real-world Unitree G1 deployment.

HumanoidText-Driven ControlDiffusion policiesWhole-Body ControlUnitree G1
Category: humanoid
Author: @breadli428
Date: 2026-11-05T00:00:00
Duration: 57.194s
Source: https://x.com/breadli428/status/2118336781670318281
Reference: https://arxiv.org/abs/2609.00677

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