Author

Jingyan Zhang

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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