{"id":"https://openalex.org/W7147758119","doi":"https://doi.org/10.48550/arxiv.2603.27756","title":"Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control","display_name":"Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control","publication_year":2026,"publication_date":"2026-03-29","ids":{"openalex":"https://openalex.org/W7147758119","doi":"https://doi.org/10.48550/arxiv.2603.27756"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.27756","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27756","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":null,"license_id":null,"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.2603.27756","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132617819","display_name":"Zelin Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Tao, Zelin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132716345","display_name":"Zeran Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Zeran","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076715406","display_name":"Peiran Liu","orcid":"https://orcid.org/0000-0001-6229-0814"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Peiran","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049574394","display_name":"Jingkai Sun","orcid":"https://orcid.org/0000-0002-1032-2957"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jingkai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111537301","display_name":"W. Que","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Que, Wenqiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132656750","display_name":"Jiahao Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Jiahao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5126360319","display_name":"Jialin Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Jialin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132682551","display_name":"Jiahang Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Jiahang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046892904","display_name":"Pihai Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Pihai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132640879","display_name":"Hao Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Hao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132720719","display_name":"Gang Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Gang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132630865","display_name":"Wen Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Wen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132713026","display_name":"Zhiyuan Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zhiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132633314","display_name":"Jian Tang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Jian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132578656","display_name":"Qiang Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Qiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132652585","display_name":"Yijie Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Yijie","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":16,"corresponding_author_ids":["https://openalex.org/A5132617819"],"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3871999979019165,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.3871999979019165,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.17710000276565552,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T12290","display_name":"Human Motion and Animation","score":0.10610000044107437,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.6525999903678894},{"id":"https://openalex.org/keywords/bittorrent-tracker","display_name":"BitTorrent tracker","score":0.6029000282287598},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5976999998092651},{"id":"https://openalex.org/keywords/bridging","display_name":"Bridging (networking)","score":0.51419997215271},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.460999995470047},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4415000081062317},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.4219000041484833},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4068000018596649},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3684999942779541}],"concepts":[{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.6525999903678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.640500009059906},{"id":"https://openalex.org/C57501372","wikidata":"https://www.wikidata.org/wiki/Q2021268","display_name":"BitTorrent tracker","level":3,"score":0.6029000282287598},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5976999998092651},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.51419997215271},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4862000048160553},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.460999995470047},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4415000081062317},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.4219000041484833},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4203000068664551},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4068000018596649},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3684999942779541},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35269999504089355},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3440000116825104},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.33719998598098755},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3156000077724457},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3142000138759613},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.31209999322891235},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2944999933242798},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C184408114","wikidata":"https://www.wikidata.org/wiki/Q1502022","display_name":"Generative Design","level":3,"score":0.2777999937534332},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.26759999990463257},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25619998574256897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.27756","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27756","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.27756","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.27756","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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Achieving":[0],"general-purpose":[1,192],"humanoid":[2,181],"control":[3,33,168,182],"requires":[4],"a":[5,35,71,150,184],"delicate":[6],"balance":[7],"between":[8,101],"the":[9,16,56,112,116,129,134,167],"precise":[10,78],"execution":[11],"of":[12],"commanded":[13],"motions":[14,104],"and":[15,81,105],"flexible,":[17],"anthropomorphic":[18,156],"adaptability":[19,58],"needed":[20],"to":[21,60,153,188],"recover":[22],"from":[23,183],"unpredictable":[24],"environmental":[25],"perturbations.":[26],"Current":[27],"general":[28],"controllers":[29],"predominantly":[30],"formulate":[31],"motion":[32,79],"as":[34,97],"rigid":[36,88,185],"reference-tracking":[37],"problem.":[38],"While":[39],"effective":[40],"in":[41],"nominal":[42],"conditions,":[43],"these":[44],"trackers":[45],"often":[46],"exhibit":[47],"brittle,":[48],"non-anthropomorphic":[49],"failure":[50],"modes":[51],"under":[52],"severe":[53],"disturbances,":[54],"lacking":[55],"generative":[57,82,151,164,191],"inherent":[59],"human":[61],"motor":[62],"control.":[63],"To":[64],"overcome":[65],"this":[66],"limitation,":[67],"we":[68],"propose":[69],"Heracles,":[70],"novel":[72],"state-conditioned":[73],"diffusion":[74,117],"middleware":[75],"that":[76,162],"bridges":[77],"tracking":[80,89,138,186],"synthesis.":[83],"Rather":[84],"than":[85],"relying":[86],"on":[87,111],"paradigms":[90],"or":[91],"complex":[92],"explicit":[93],"mode-switching,":[94],"Heracles":[95],"operates":[96],"an":[98,125,189],"intermediary":[99],"layer":[100],"high-level":[102],"reference":[103],"low-level":[106],"physics":[107],"trackers.":[108],"By":[109],"conditioning":[110],"robot's":[113],"real-time":[114],"state,":[115],"model":[118],"implicitly":[119],"adapts":[120],"its":[121],"behavior:":[122],"it":[123,146],"approximates":[124],"identity":[126],"map":[127],"when":[128,141],"state":[130,144],"closely":[131],"aligns":[132],"with":[133],"reference,":[135],"preserving":[136],"zero-shot":[137],"fidelity.":[139],"Conversely,":[140],"encountering":[142],"significant":[143],"deviations,":[145],"seamlessly":[147],"transitions":[148],"into":[149,166],"synthesizer":[152],"produce":[154],"natural,":[155],"recovery":[157],"trajectories.":[158],"Our":[159],"framework":[160],"demonstrates":[161],"integrating":[163],"priors":[165],"loop":[169],"not":[170],"only":[171],"significantly":[172],"enhances":[173],"robustness":[174],"against":[175],"extreme":[176],"perturbations":[177],"but":[178],"also":[179],"elevates":[180],"paradigm":[187],"open-ended,":[190],"architecture.":[193]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}