Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.
Speech gesture generation from the trimodal context of text, audio, and speaker identity
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Constraint-Aware Diffusion Priors for High-Fidelity and Versatile Quadruped Locomotion
Diff-CAST replaces GAN discriminators with diffusion-based priors and adds symmetric command conditioning plus constrained RL to enable versatile, drift-free, and hardware-safe quadruped locomotion.