From Language to Locomotion: Retargeting-free Humanoid Control via Motion Latent Guidance. - Zhe Li; Cheng Chi; Yangyang Wei; Boan Zhu; Yibo Peng; Tao Huang 020; Pengwei Wang 004; Zhongyuan Wang 006; Shanghang Zhang; Chang Xu 002 (CoRR, 2025)