ADAPT: ETH Zurich's 50Hz end-to-end text-driven humanoid control with diffusion priors
breadli428 · x · 2026-11-03
ETH Zurich's ADAPT (CoRL 2026) enables text-commanded whole-body humanoid control.
- Key idea: unlike dominant text-to-motion pipelines that generate kinematics for a separate tracker, ADAPT uses end-to-end closed-loop control — the robot continuously responds to changing commands while keeping balance, natural motion, and smooth transitions.
- Method: a diffusion-based action prior learned from text-labeled humanoid state-action trajectories lets diverse skills execute directly from language; a lightweight residual RL policy on top of the frozen diffusion controller improves long-horizon robustness and smooth prompt switching.
- Specs: 50Hz end-to-end closed-loop control, real-time policy inference, online prompt switching.
- Reuse: the same diffusion policy serves as a steerable text-conditioned motion prior for downstream tasks with controllable motion styles.
- Deployed on a real G1 humanoid; code coming soon.
Related event: ETH Zurich's ADAPT Enables Real-Time Language Control of Humanoid Robots(4 posts)→
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