# DiffWBC: One-step diffusion model enables steerable humanoid whole-body motion tracking

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/vzbvx0g9n1v1bu6o27gox4hzk
- Original: https://arxiv.org/abs/2610.41354

## Summary

DiffWBC proposes replacing deterministic policies with a one-step diffusion model for general humanoid motion tracking, requiring only one forward inference per 50 Hz control step, achieving a local tracking error of 20.1 mm on the BONES benchmark, and deployed on a physical Unitree G1.