arXiv:2603.27756v2 Announce Type: replace-cross Abstract: Achieving general-purpose humanoid control requires a delicate balance between the precise execution of commanded motions and the flexible, anthropomorphic adaptability needed to recover from unpredictable environmental perturbations. Current general controllers predominantly formulate motion control as a rigid reference-tracking problem. While effective in nominal conditions, these trackers often exhibit brittle, non-anthropomorphic failure modes under severe disturbances, lacking the generative adaptability inherent to human motor control. To overcome this limitation, we propose Heracles, a novel state-conditioned diffusion middleware that bridges precise motion tracking and generative synthesis. Rather than relying on rigid tracking paradigms or complex explicit mode-switching, Heracles operates as an intermediary layer between high-level reference motions and low-level physics trackers. By conditioning on the robot's real-time state, the diffusion model implicitly adapts its behavior: it approximates an identity map when the state closely aligns with the reference, preserving zero-shot tracking fidelity. Conversely, when encountering significant state deviations, it seamlessly transitions into a generative synthesizer to produce natural, anthropomorphic recovery trajectories. Our framework demonstrates that integrating generative priors into the control loop not only significantly enhances robustness against extreme perturbations but also elevates humanoid control from a rigid tracking paradigm to an open-ended, generative general-purpose architecture.

arXiv:2602.13791v1 Announce Type: cross Abstract: Predicting transcriptional responses to unseen genetic perturbations is essential for understanding gene regulation and prioritizing large-scale perturbation experiments. Existing approaches either rely on static, potentially incomplete knowledge graphs, or prompt language models for functionally similar genes, retrieving associations shaped by symmetric co-occurrence in scientific text rather than directed regulatory logic. We introduce MechPert, a lightweight framework that encourages LLM agents to generate directed regulatory hypotheses rather than relying solely on functional similarity. Multiple agents independently propose candidate regulators with associated confidence scores; these are aggregated through a consensus mechanism that filters spurious associations, producing weighted neighborhoods for downstream prediction. We evaluate MechPert on Perturb-seq benchmarks across four human cell lines. For perturbation prediction in low-data regimes ($N=50$ observed perturbations), MechPert improves Pearson correlation by up to 10.5\% over similarity-based baselines. For experimental design, MechPert-selected anchor genes outperform standard network centrality heuristics by up to 46\% in well-characterized cell lines.