@article{uniphysunifiedplannerandcontrollerwith,
  title = {UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control},
  author = {Yan Wu and Korrawe Karunratanakul and Zhengyi Luo and Siyu Tang},
  year = {2025},
  eprint = {2504.12540},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2504.12540v1},
}