Before the Body Moves: Learning Anticipatory Joint Intent for Language-Conditioned Humanoid Control. - Haozhe Jia; Honglei Jin; Yuan Zhang; Youcheng Fan; Shaofeng Liang; Lei Wang; Shuxu Jin; Kuimou Yu; Zinuo Zhang; Jianfei Song; Wenshuo Chen; Yutao Yue (CoRR, 2026)