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

作者：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, Jian Tang, Qiang Zhang, Yijie Guo · 会议/期刊：arXiv preprint · 方向：全身控制 · 发布日期：2026-03