# Foot-contact conditioned human motion generation

Human motion generation has mostly been steered by naming an action or a place to move; StepControl instead takes only a future left/right foot-contact schedule, with no target root or body poses and no semantic prompt. It treats contacts as explicit temporal events, injects them through dedicated cross-attention with classifier-free guidance, and adds a stochastic mixture noise schedule and warmup for stable long-horizon autoregressive generation. Experiments report that it follows prescribed contact timing more accurately than adapting existing spatially guided generators to contact constraints, keeps contact control over long continuous rollouts, and responds to edited schedules such as cadence changes, stop-and-go pauses, limping gaits and bilateral jumping.

Human motion generation has mostly been steered by naming an action or a place to move; StepControl instead takes only a future left/right foot-contact schedule, with no target root or body poses and no semantic prompt. It treats contacts as explicit temporal events, injects them through dedicated cross-attention with classifier-free guidance, and adds a stochastic mixture noise schedule and warmup for stable long-horizon autoregressive generation. Experiments report that it follows prescribed contact timing more accurately than adapting existing spatially guided generators to contact constraints, keeps contact control over long continuous rollouts, and responds to edited schedules such as cadence changes, stop-and-go pauses, limping gaits and bilateral jumping.