[2603.27756] Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control

Computer Science > Robotics arXiv:2603.27756 (cs) [Submitted on 29 Mar 2026] Title:Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control Authors:Zelin Tao, Zeran Su, Peiran Liu, Jingkai Sun, Wenqiang Que, Jiahao Ma, Jialin Yu, Jiahang Cao, Pihai Sun, Hao Liang, Gang Han, Wen Zhao, Zhiyuan Xu, Yijie Guo, Jian Tang, Qiang Zhang View a PDF of the paper titled Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control, by Zelin Tao and 15 other authors View PDF HTML (experimental) Abstract:Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to recover from unpredictable environmental perturbations. Current general controllers predominantly formulate motion control as a rigid reference-tracking problem. While effective in nominal conditions, these trackers often exhibit brittle, non-anthropomorphic failure modes under severe disturbances, lacking the generative adaptability inherent to human motor control. To overcome this limitation, we propose Heracles, a novel state-conditioned diffusion middleware that bridges precise motion tracking and generative synthesis. Rather than relying on rigid tracking paradigms or complex explicit mode-switching, Heracles operates as an intermediary layer between high-level reference motions and low-level physics trackers. By conditioning on the robot's real...