{"id":"https://openalex.org/W7161245035","doi":"https://doi.org/10.48550/arxiv.2605.14417","title":"Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control","display_name":"Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control","publication_year":2026,"publication_date":"2026-05-14","ids":{"openalex":"https://openalex.org/W7161245035","doi":"https://doi.org/10.48550/arxiv.2605.14417"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.14417","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14417","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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.14417","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5136237436","display_name":"Haozhe Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Haozhe","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129962355","display_name":"Honglei Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Honglei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136192423","display_name":"Yuan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130100388","display_name":"Youcheng Fan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fan, Youcheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136212730","display_name":"Shaofeng Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liang, Shaofeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136225242","display_name":"Lei Wang","orcid":"https://orcid.org/0009-0003-5029-0878"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Lei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136223542","display_name":"Shuxu Jin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jin, Shuxu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136229044","display_name":"Kuimou Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Kuimou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136264210","display_name":"Zinuo Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zinuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136255652","display_name":"Jianfei Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Jianfei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136273539","display_name":"Wenshuo Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Wenshuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136190877","display_name":"Yutao Yue","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yue, Yutao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.24160000681877136,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.24160000681877136,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.19059999287128448,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.1720999926328659,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7253999710083008},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5595999956130981},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5425000190734863},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.5335999727249146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5264000296592712},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.524399995803833},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.39739999175071716},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.349700003862381},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3492000102996826}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7253999710083008},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.65829998254776},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5595999956130981},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5490000247955322},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5425000190734863},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.5335999727249146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5264000296592712},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.524399995803833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4318000078201294},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.39739999175071716},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.349700003862381},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3492000102996826},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.321399986743927},{"id":"https://openalex.org/C207347870","wikidata":"https://www.wikidata.org/wiki/Q371174","display_name":"Gesture","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.3151000142097473},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.29649999737739563},{"id":"https://openalex.org/C60048249","wikidata":"https://www.wikidata.org/wiki/Q37437","display_name":"Syntax","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C28490314","wikidata":"https://www.wikidata.org/wiki/Q189436","display_name":"Speech recognition","level":1,"score":0.28369998931884766},{"id":"https://openalex.org/C89505385","wikidata":"https://www.wikidata.org/wiki/Q47146","display_name":"User interface","level":2,"score":0.2799000144004822},{"id":"https://openalex.org/C2779439875","wikidata":"https://www.wikidata.org/wiki/Q1078276","display_name":"Natural language understanding","level":3,"score":0.27630001306533813},{"id":"https://openalex.org/C20253421","wikidata":"https://www.wikidata.org/wiki/Q477298","display_name":"Body language","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.27300000190734863},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2718000113964081},{"id":"https://openalex.org/C2776187449","wikidata":"https://www.wikidata.org/wiki/Q1513879","display_name":"Natural language generation","level":3,"score":0.26750001311302185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2623000144958496},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.2596000134944916},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.2531999945640564}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.14417","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14417","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.14417","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14417","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":"Preprint"},"sustainable_development_goals":[{"display_name":"Quality Education","score":0.7788623571395874,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Natural":[0],"language":[1,75,102],"is":[2],"an":[3,70],"intuitive":[4],"interface":[5,73],"for":[6],"humanoid":[7,28],"robots,":[8],"yet":[9],"streaming":[10,120],"whole-body":[11],"control":[12,14],"requires":[13],"representations":[15],"that":[16,34,68,108],"are":[17],"executable":[18],"now":[19],"and":[20,56,77,103,119,130],"anticipatory":[21,71,114],"of":[22],"future":[23,98],"physical":[24],"transitions.":[25],"Existing":[26],"language-conditioned":[27],"systems":[29],"typically":[30],"generate":[31],"kinematic":[32],"references":[33],"a":[35,65,82,86],"low-level":[36],"tracker":[37],"must":[38],"repair":[39],"reactively,":[40],"or":[41],"use":[42],"latent/action":[43],"policies":[44],"whose":[45],"outputs":[46],"do":[47],"not":[48],"explicitly":[49],"encode":[50],"upcoming":[51],"contact":[52],"changes,":[53],"support":[54],"transfers,":[55],"balance":[57],"preparation.":[58],"We":[59],"propose":[60],"\\textbf{DAJI}":[61],"(\\emph{Dynamics-Aligned":[62],"Joint":[63],"Intent}),":[64],"hierarchical":[66],"framework":[67],"learns":[69],"joint-intent":[72],"between":[74],"generation":[76,129],"closed-loop":[78],"control.":[79],"DAJI-Act":[80],"distills":[81],"future-aware":[83],"teacher":[84],"into":[85],"deployable":[87],"diffusion":[88],"action":[89],"policy":[90],"through":[91],"student-driven":[92],"rollouts,":[93],"while":[94],"DAJI-Flow":[95],"autoregressively":[96],"generates":[97],"intent":[99,104],"chunks":[100],"from":[101],"history.":[105],"Experiments":[106],"show":[107],"DAJI":[109],"achieves":[110],"strong":[111],"results":[112],"in":[113],"latent":[115],"learning,":[116],"single-instruction":[117],"generation,":[118],"instruction":[121],"following,":[122],"reaching":[123],"94.42\\%":[124],"rollout":[125],"success":[126],"on":[127,134],"HumanML3D-style":[128],"0.152":[131],"subsequence":[132],"FID":[133],"BABEL.":[135]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-16T00:00:00"}