@misc{ye2026predactor,
  title = {PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control},
  author = {Ye, Lei and Gao, Haibo and Li, Yitang and Xu, Peng and Jing, Zetong and Sun, Junhan and Dong, Fanrong and Han, Ziqi and Wang, Xue and Sun, Jianhua and Lu, Cewu and Zhao, Hao and Ding, Liang},
  year = {2026},
  eprint = {2609.24840},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2609.24840},
  doi = {10.48550/arXiv.2609.24840}
}