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PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

Diffusion models offer flexible motion generation, but translating this flexibility into feedback-responsive humanoid control remains challenging. Hierarchical systems steer motion through references that may exceed a separate tracker's capabilities, leaving recovery and physical execution largely to the tracker. Action-only diffusion generates actions directly but lacks an explicit future-state trajectory for test-time motion objectives. Joint state-action diffusion provides this representation, yet representative controllers often depend on privileged full-body states, and support for learne

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