{
  "id": 6616,
  "url": "https://arxiv.org/abs/2603.27756v2",
  "title": "Heracles: Bridging Precise Tracking and Generative Synthesis for General Humanoid Control",
  "summary": "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 generativ",
  "authors": "Zelin Tao, Zeran Su, Peiran Liu, Jingkai Sun, Wenqiang Que, Jiahao Ma et al.",
  "category": "research",
  "topics": "privacy-surveillance,environment",
  "orgs": null,
  "regions": null,
  "published_at": "2026-03-29T16:21:01.000Z",
  "fetched_at": "2026-07-14T16:32:37.309Z",
  "source_slug": "arxiv-ethics",
  "source_name": "arXiv",
  "source_homepage": "https://arxiv.org",
  "ethics_ai_record_url": "https://ethics.ai/record/6616",
  "original_url": "https://arxiv.org/abs/2603.27756v2",
  "evidence_status": "source-only",
  "attribution": "via ethics.ai"
}