SCRIPT: שליטה ברובוטים אנושיים באמצעות שפה טבעית

תקציר מקורי באנגליתarXiv:2605.22894v3 Announce Type: replace-cross Abstract: Controlling physics-based humanoids from natural-language instructions is a critical step toward general-purpose embodied agents. However, existing methods remain constrained by a tension between semantic expressiveness and physical feasibility, often failing to jointly achieve faithful instruction following, high-quality motion, and stable long-horizon control. We propose SCRIPT, a scalable diffusion policy with a multi-stage training framework for language-driven physics-based humanoid control. The core of SCRIPT is a Joint Action-State-Text Diffusion Transformer (JAST-DiT), which represents actions, physical states, and text as dedicated token streams and couples them through joint attention, enabling direct interaction between l