Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training

arXiv:2609.26420 · cs.RO, cs.CV · Submitted 2026-09-22 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-09-22

Updated: 2026-09-22

Project page: https://raphaelmemmesheimer.github.io/sample-simulate-select

Terminology

• Verifier — 30× in this paper · explained in 2 episodes
• Fidelity — 9× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Diffusion Model — 4× in this paper · explained in 8 episodes
• Benchmark — 3× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 3× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• System Identification — 1× in this paper · explained in 3 episodes

Sources

• Go to Zero: Towards Zero-shot Motion Generation with Million-scale Data
• Kimodo: Scaling Controllable Human Motion Generation
• ExBody2: Advanced Expressive Humanoid Whole-Body Control
• GMT: General Motion Tracking for Humanoid Whole-Body Control
• UniTracker: Learning Universal Whole-Body Motion Tracker for Humanoid Robots
• From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance
• RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
• Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
• FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• ECHO: Edge-Cloud Humanoid Orchestration for Language-to-Motion Control
• SafeFlow: Real-Time Text-Driven Humanoid Whole-Body Control via Physics-Guided Rectified Flow and Selective Safety Gating
• TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation
• SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control
• Retargeting Matters: General Motion Retargeting for Humanoid Motion Tracking
• BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
• PhyGile: Physics-Prefix Guided Motion Generation for Agile General Humanoid Motion Tracking

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