LANGUAGE → MOTION
Control a humanoid with an end-to-end diffusion policy.
ADAPT generates joint actions live from text commands, robot state, and—for goal reaching—a target position.
Runs on your device · First load about 175 MB; goal mode downloads its policy when selected.
LIVE DIFFUSION POLICYPaused
Loading MuJoCo and policy on your device…
Text-driven control00:00.00
CURRENT TEXTstand
Drag to orbit · Scroll to zoomPhysics waits for every policy inference.
— ms
— ms
— ×
50 Hz · sim time
0.00, 0.00 m