From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance - Li, Zhe; Wei, Yangyang; Zhu, Boan; Peng, Yibo; Huang, Tao; Wang, Pengwei; Wang, Zhongyuan; Chi, Cheng; Xu, Chang; Zhang, Shanghang (International Conference on Learning Representations, 2026)