PredActor Unifies Humanoid Motion Generation and Control with One Diffusion Policy

PredActor introduces a predictive action diffusion policy that unifies humanoid motion generation and tracking control in a single end-to-end model, replacing the traditional generator-plus-tracker pipeline. It runs at 50Hz on the Unitree G1 using only proprioceptive feedback.

2026-10-09 ~ 2026-10-10 · 2 related posts

• PredActor unifies humanoid motion generation and control in one diffusion policy at 50Hz on Unitree G1 — carlosdponx · 2026-10-09
• PredActor: Predictive Action Diffusion Policy for Steerable Humanoid Control — ChongZzZhang · 2026-10-10