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

ArXi:2603.27756v1 Announce Type: cross 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.