{"id":"https://openalex.org/W7165676440","doi":"https://doi.org/10.48550/arxiv.2606.22998","title":"TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation","display_name":"TEXEDO : Test Time Scaling for Controller-aware Language-conditioned Humanoid Motion Generation","publication_year":2026,"publication_date":"2026-06-22","ids":{"openalex":"https://openalex.org/W7165676440","doi":"https://doi.org/10.48550/arxiv.2606.22998"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.22998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.22998","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5133613550","display_name":"Jianuo Cao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cao, Jianuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139143489","display_name":"Yuxin Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuxin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5134947889","display_name":"Y Song","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Song, Yuzhen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139134918","display_name":"Masayoshi Tomizuka","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tomizuka, Masayoshi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139188976","display_name":"Chenran Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Chenran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5101252845","display_name":"Thomas Tian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tian, Thomas","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/T12290","display_name":"Human Motion and Animation","score":0.6445000171661377,"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":0.6445000171661377,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.10909999907016754,"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":0.07349999994039536,"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":0.8125},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6001999974250793},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5659999847412109},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5054000020027161},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.43479999899864197},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.4138000011444092},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4016000032424927},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3804999887943268},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.3776000142097473},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.37720000743865967}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8125},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7391999959945679},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6001999974250793},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5659999847412109},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.54830002784729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5274999737739563},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5054000020027161},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.43479999899864197},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.4138000011444092},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4016000032424927},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3804999887943268},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.3776000142097473},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.37599998712539673},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.32260000705718994},{"id":"https://openalex.org/C95020103","wikidata":"https://www.wikidata.org/wiki/Q1813492","display_name":"Match moving","level":3,"score":0.32010000944137573},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3005000054836273},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.2896000146865845},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.2874000072479248},{"id":"https://openalex.org/C2779038628","wikidata":"https://www.wikidata.org/wiki/Q7248497","display_name":"Programming by demonstration","level":3,"score":0.27730000019073486},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.27630001306533813},{"id":"https://openalex.org/C23224414","wikidata":"https://www.wikidata.org/wiki/Q176769","display_name":"Hidden Markov model","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.27219998836517334},{"id":"https://openalex.org/C90312973","wikidata":"https://www.wikidata.org/wiki/Q7449052","display_name":"Semantic data model","level":2,"score":0.2694000005722046},{"id":"https://openalex.org/C97256817","wikidata":"https://www.wikidata.org/wiki/Q1462316","display_name":"Spurious relationship","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C113364801","wikidata":"https://www.wikidata.org/wiki/Q26674","display_name":"High fidelity","level":2,"score":0.26570001244544983},{"id":"https://openalex.org/C177212765","wikidata":"https://www.wikidata.org/wiki/Q627335","display_name":"Workflow","level":2,"score":0.2651999890804291},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2556999921798706},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.25519999861717224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.22998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.22998","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.22998","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":"Preprint"},"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":{"Text-conditioned":[0],"motion":[1,19,81,85,111,208],"generation":[2,82],"is":[3,113,200],"a":[4,55,75,89,94,103,122,136,145,155,177],"promising":[5],"interface":[6],"for":[7,67,79],"programming":[8],"humanoid":[9,80,180,207],"robots,":[10],"yet":[11],"current":[12],"generators":[13],"are":[14],"often":[15],"trained":[16],"on":[17,176],"human":[18],"datasets":[20],"retargeted":[21],"to":[22,36,70,131],"robot":[23,69],"morphologies.":[24],"Although":[25],"such":[26],"data":[27],"provides":[28],"rich":[29],"semantic":[30,137,159],"and":[31,50,107,116,158,173,191],"kinematic":[32],"priors,":[33],"it":[34],"fails":[35],"capture":[37],"the":[38,68,109,162,166],"nuances":[39],"of":[40],"whole-body":[41,128],"tracking":[42,129,189],"controllers,":[43],"including":[44],"balance,":[45],"contact":[46],"dynamics,":[47],"actuation":[48],"limits,":[49],"controller-specific":[51],"failure":[52],"modes.":[53],"As":[54],"result,":[56],"generated":[57],"motions":[58,101],"can":[59],"be":[60],"semantically":[61],"plausible":[62],"but":[63],"difficult":[64],"or":[65],"impossible":[66],"execute.":[71],"We":[72],"introduce":[73],"TEXEDO,":[74],"test-time":[76],"scaling":[77],"framework":[78],"that":[83,112,140,184,197],"improves":[84,187],"quality":[86],"without":[87],"requiring":[88],"stronger":[90],"underlying":[91],"generator.":[92],"Given":[93],"text":[95,192],"prompt,":[96],"TEXEDO":[97,185],"samples":[98],"multiple":[99],"candidate":[100],"from":[102,127],"pretrained":[104],"text-conditioned":[105],"generator":[106],"selects":[108],"best":[110],"both":[114,188],"executable":[115],"task-aligned.":[117],"The":[118],"reward":[119],"model":[120],"combines":[121],"dynamic":[123,152],"feasibility":[124,153],"verifier,":[125],"distilled":[126],"rollouts":[130],"predict":[132],"physical":[133],"executability,":[134],"with":[135],"alignment":[138,143,160],"verifier":[139],"measures":[141],"text-motion":[142],"in":[144],"learned":[146],"co-embedding":[147],"space.":[148],"Our":[149],"pipeline":[150],"treats":[151],"as":[154,161],"hard":[156],"constraint":[157],"selection":[163],"objective":[164],"within":[165],"feasible":[167],"set.":[168],"Through":[169],"large-scale":[170],"simulation":[171],"studies":[172],"real-world":[174],"deployment":[175],"Unitree":[178],"G1":[179],"robot,":[181],"we":[182],"show":[183],"consistently":[186],"fidelity":[190],"alignment.":[193],"These":[194],"results":[195],"demonstrate":[196],"grounded":[198],"verification":[199],"an":[201],"effective":[202],"path":[203],"toward":[204],"deployable":[205],"language-guided":[206],"generation.":[209],"Project":[210],"website:":[211],"https://jianuocao.github.io/TEXEDO/":[212]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-24T00:00:00"}