@article{scriptscalablediffusionpolicywithmultist,
  title = {SCRIPT: Scalable Diffusion Policy with Multi-stage Training for Language-driven Physics-Based Humanoid Control},
  author = {Jingyan Zhang and Han Liang and Ruichi Zhang and Bin Li and Juze Zhang and Xin Chen and Jingya Wang and Lan Xu and Jingyi Yu},
  year = {2026},
  eprint = {2605.22894},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.22894},
}