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About this paper
Ju Dong, Xinyu Xiao, Yiming Zhou, Tianshuo Yang, Xuerong Liu, Lei Zhang, Jian Chen, Haocheng Zhao and 7 more
The system selects humanoid motion and hand-command sequences by predicting visual progress toward demonstration-derived subgoals and scoring how well body and hand commands fit together over time. It executes a short prefix, observes the result, and replans. Across ten SIMPLE simulation tasks, it averages 89.7% success versus 82.0% for DiT4DiT; its visual score depends on task-specific demonstration subgoals.
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