PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

arXiv:2609.24840 · cs.RO, cs.LG · Submitted 2026-09-21 · Read on arXiv

cs.RO, cs.LG

Submitted: 2026-09-21

Updated: 2026-10-05

Comments: Project page: https://masteryip.github.io/predactor.github.io/

Code: https://github.com/EGalahad/mimic-lite

Project page: https://masteryip.github.io/predactor.github.io

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Actor — 34× in this paper · explained in 3 episodes
• Steering — 24× in this paper · explained in 2 episodes
• Aggregation — 8× in this paper · explained in 1 episode
• Benchmark — 8× in this paper · explained in 2 episodes
• Transformer — 7× in this paper · explained in 2 episodes
• Embeddings — 6× in this paper · explained in 2 episodes
• Diffusion Model — 5× in this paper · explained in 8 episodes
• Distillation — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Diffusion Models — 4× in this paper · explained in 6 episodes
• Reinforcement Learning — 4× in this paper · explained in 4 episodes
• Robustness — 4× in this paper · explained in 5 episodes
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Foundation Model — 3× in this paper · explained in 3 episodes
• Admissibility — 2× in this paper · explained in 2 episodes
• Alignment — 2× in this paper · explained in 1 episode
• Consistency — 2× in this paper · explained in 3 episodes
• Generative AI — 2× in this paper · explained in 2 episodes
• Generative Model — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Regret — 1× in this paper · explained in 3 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Sim-to-Real Transfer — 1× in this paper · explained in 2 episodes

Sources

• SCDP: Learning Humanoid Locomotion from Partial Observations via Mixed-Observation Distillation
• HoloMotion-1 Technical Report
• ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
• Classifier-Free Diffusion Guidance
• CLONE: Closed-Loop Whole-Body Humanoid Teleoperation for Long-Horizon Tasks
• Denoising Diffusion Implicit Models
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control
• Track Any Motions under Any Disturbances
• ARDY: Autoregressive Diffusion with Hybrid Representation for Interactive Human Motion Generation

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