A new diffusion transformer policy with joint attention over actions, states, and text plus RL post-training outperforms prior methods on language alignment and motion quality for humanoid control.
SIGGRAPH Asia 2024 Conference Papers , pages=
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SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control
A new diffusion transformer policy with joint attention over actions, states, and text plus RL post-training outperforms prior methods on language alignment and motion quality for humanoid control.