Author

Han Liang

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#machine learning May 2026

SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-based Humanoid Control

This work proposes SCRIPT, a scalable diffusion policy with a multi-stage training framework for language-driven physics-based humanoid control, and introduces a nonlinear history conditioning mechanism, which preserves the dense recent context and samples increasingly sparse cues from long-term history.

Jingyan Zhang, Han Liang, Rui-Chi Zhang et al. · arXiv.org · 5 citations · ⚡2

#artificial intelligence Mar 2026

PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking

PhyGile performs physics-prefix-guided robot-native motion generation at inference time, directly generating robot-native motions in a 262-dimensional skeletal space with physics-guided prefixes, thereby eliminating inference-time retargeting artifacts and reducing generation-execution discrepancies.

Jiacheng Bao, Hao Yang, Yucheng Xin et al. · arXiv.org · 2 citations