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

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

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 must continuously respond to changing commands while maintaining balance, natural motion, and smooth transitions. ADAPT learns a diffusion-based action prior from text-labeled humanoid state-action trajectories, enabling diverse motion skills to be directly executed from language commands. To improve

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