{"id":"https://openalex.org/W7136224245","doi":"https://doi.org/10.48550/arxiv.2603.13228","title":"PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization","display_name":"PhysMoDPO: Physically-Plausible Humanoid Motion with Preference Optimization","publication_year":2026,"publication_date":"2026-03-13","ids":{"openalex":"https://openalex.org/W7136224245","doi":"https://doi.org/10.48550/arxiv.2603.13228"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.13228","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13228","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.13228","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036187685","display_name":"Yangsong Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Zhang, Yangsong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072966783","display_name":"Anujith Muraleedharan","orcid":"https://orcid.org/0009-0002-1782-7891"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Muraleedharan, Anujith","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129558905","display_name":"Rikhat Akizhanov","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Akizhanov, Rikhat","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129508489","display_name":"Abdul Ahad Butt","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Butt, Abdul Ahad","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024292507","display_name":"G\u00fcl Varol","orcid":"https://orcid.org/0000-0002-8438-6152"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Varol, G\u00fcl","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129422653","display_name":"Pascal Fua","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fua, Pascal","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129586918","display_name":"Fabio Pizzati","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pizzati, Fabio","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129514149","display_name":"Ivan Laptev","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Laptev, Ivan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5036187685"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9422000050544739,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9422000050544739,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.015699999406933784,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10719","display_name":"3D Shape Modeling and Analysis","score":0.00800000037997961,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5806000232696533},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.5752000212669373},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5313000082969666},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.45820000767707825},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.43860000371932983},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4325000047683716},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3986000120639801},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.3952000141143799},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.3725000023841858}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6735000014305115},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5806000232696533},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.5752000212669373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5579000115394592},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5313000082969666},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.45820000767707825},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.43860000371932983},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4325000047683716},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3986000120639801},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3952000141143799},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3944999873638153},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.3725000023841858},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.3675000071525574},{"id":"https://openalex.org/C69369342","wikidata":"https://www.wikidata.org/wiki/Q1401416","display_name":"Computer animation","level":3,"score":0.3476000130176544},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3447999954223633},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.33329999446868896},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.33169999718666077},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.29980000853538513},{"id":"https://openalex.org/C90697248","wikidata":"https://www.wikidata.org/wiki/Q1062896","display_name":"Character animation","level":4,"score":0.2962000072002411},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.2955000102519989},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.29510000348091125},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.2883000075817108},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2863999903202057},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.27790001034736633},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26989999413490295},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.26409998536109924},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.25760000944137573},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.2574000060558319}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.13228","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13228","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.13228","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.13228","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5927480459213257,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"progress":[1],"in":[2,150,166,175],"text-conditioned":[3],"human":[4,17],"motion":[5,18,173],"generation":[6],"has":[7],"been":[8],"largely":[9],"driven":[10],"by":[11,38],"diffusion":[12,101],"models":[13,30],"trained":[14],"on":[15,21,84,139,157,181],"large-scale":[16],"data.":[19],"Building":[20],"this":[22,68],"progress,":[23],"recent":[24],"methods":[25],"attempt":[26],"to":[27,130,133,171],"transfer":[28,174],"such":[29,88,103],"for":[31,178],"character":[32],"animation":[33],"and":[34,99,114,124,127,141,154,177],"real":[35],"robot":[36],"control":[37,143],"applying":[39],"a":[40,74,182],"Whole-Body":[41],"Controller":[42],"(WBC)":[43],"that":[44,82,104,163],"converts":[45],"diffusion-generated":[46],"motions":[47],"into":[48,95],"executable":[49],"trajectories.":[50,135],"While":[51],"WBC":[52,94,108],"trajectories":[53],"become":[54],"compliant":[55,110],"with":[56,112],"physics,":[57],"they":[58],"may":[59],"expose":[60],"substantial":[61],"deviations":[62],"from":[63],"original":[64,115],"motion.":[65],"To":[66,118],"address":[67],"issue,":[69],"we":[70,92,121,161],"here":[71],"propose":[72],"PhysMoDPO,":[73],"Direct":[75],"Preference":[76],"Optimization":[77],"framework.":[78],"Unlike":[79],"prior":[80],"work":[81],"relies":[83],"hand-crafted":[85],"physics-aware":[86],"heuristics":[87],"as":[89],"foot-sliding":[90],"penalties,":[91],"integrate":[93],"our":[96],"training":[97],"pipeline":[98],"optimize":[100],"model":[102],"the":[105],"output":[106],"of":[107,148],"becomes":[109],"both":[111,151],"physics":[113],"text":[116],"instructions.":[117],"train":[119],"PhysMoDPO":[120,149,164],"deploy":[122],"physics-based":[123],"task-specific":[125],"rewards":[126],"use":[128],"them":[129],"assign":[131],"preference":[132],"synthesized":[134],"Our":[136],"extensive":[137],"experiments":[138],"text-to-motion":[140],"spatial":[142],"tasks":[144],"demonstrate":[145,162],"consistent":[146],"improvements":[147,168],"physical":[152],"realism":[153],"task-related":[155],"metrics":[156],"simulated":[158],"robots.":[159],"Moreover,":[160],"results":[165],"significant":[167],"when":[169],"applied":[170],"zero-shot":[172],"simulation":[176],"real-world":[179],"deployment":[180],"G1":[183],"humanoid":[184],"robot.":[185]},"counts_by_year":[],"updated_date":"2026-03-17T07:05:13.627479","created_date":"2026-03-17T00:00:00"}
