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

arXiv:2605.22894v1 Announce Type: cross Abstract: Controlling physics-based humanoids from natural-language instructions is a critical step toward general-purpose embodied agents. However, existing methods remain constrained by a tension between semantic expressiveness and physical feasibility, often failing to jointly achieve faithful instruction following, high-quality motion, and stable long-horizon control. We propose SCRIPT, a scalable diffusion policy with a multi-stage training framework for language-driven physics-based humanoid control. The core of SCRIPT is a Joint Action-State-Text

Source: arXiv cs.LG — read the full report at the original publisher.

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