2026
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction Via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara, Sangkyung Kwak, Sarthak Bhagat, Shankar Sastry +4
ICRA 2026poster
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learning (RL): our core innovation is the use of a diffusion prior trained on human motion data, which subsequently guides an …