ARDY

ARDY: NVIDIA's streaming autoregressive diffusion framework for real-time controllable 3D human motion generation

NVIDIA researchers introduce ARDY, a streaming motion generation framework that combines autoregressive transformers with diffusion-based denoising to produce high-fidelity 3D human motions in real-time. The system uses a hybrid representation pairing explicit root features with latent body embeddings, enabling online text prompting and flexible long-horizon kinematic constraints simultaneously. ARDY is evaluated on HumanML3D and a large-scale proprietary dataset (Bones Rigplay), with an interactive demo showing dynamic text control, keyframe constraints, and locomotion. The work targets animation, simulation, and humanoid robotics applications where both controllability and inference speed are required.