CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control - Tevet, Guy; Raab, Sigal; Cohan, Setareh; Reda, Daniele; Luo, Zhengyi; Peng, Xue Bin; Bermano, Amit; van de Panne, Michiel (International Conference on Learning Representations, 2025)