SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control
The episode details SCRIPT, a framework designed to translate high-level linguistic commands into physically plausible movements for humanoid robots. Using a diffusion policy with multi-stage training, the system achieves end-to-end control that respects physics and maintains adaptability. The discussion emphasizes its ability to move beyond simple motion cloning toward true policy generation.