PredActor unifies humanoid motion generation and control in one diffusion policy at 50Hz on Unitree G1
carlosdponx · x · 2026-10-09
PredActor replaces hierarchical generator-tracker systems with a single end-to-end diffusion policy for humanoid robots. Using only proprioceptive history, it predicts internal future states and directly outputs actions at 50Hz onboard a Unitree G1 (Jetson Orin), supporting text-conditioned motion, joystick steering, disturbance response, and semantic interpolation in one policy. Commenters note it revives the diffusion-policy core of BeyondMimic, which was largely overlooked a year ago.
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