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arXiv · 2606.05624

KV-Control: Parameter-Efficient K/V Injection for Trajectory-Controlled Text-to-Motion

Tengjiao Sun·Pengcheng Fang·Xiaoyu Zhan·Yanwen Guo·Dongjie Fu·Xiaohao Cai·Hansung Kim
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Abstract

Text-conditioned 3D human motion models now synthesize plausible motions from prompts, but practical animation and embodied-agent workflows rarely stop at text: a character may need to follow a sketched root path, hit an end-effector target, or satisfy a multi-joint trajectory while still preserving the gait, style, and intent described by language. This exposes a control trade-off. A trajectory controller should be precise without overwriting the pretrained text-conditioned motion prior, yet existing solutions either duplicate large portions of the generator to regain per-layer control access or move much of the cost to test-time optimization. We introduce KV-Control, a compact attention-side control interface for frozen masked text-to-motion transformers. The key idea is to make geometric constraints available as memory inside self-attention rather than injecting them through a global pose token or enforcing them only at the output side. To support this interface, we co-design a part-tokenized motion substrate and controller: \textbf{PartVQ} learns anatomy-aligned part codebooks, T-Concat exposes each frame--part token as an attention-addressable site, and KV-Control injects control-conditioned key/value memories at every self-attention layer while preserving the pretrained query stream, text cross-attention, FFN, and all backbone weights. The resulting adapter adds only trainable injection parameters atop a shared trajectory encoder, yet tracks root and multi-joint constraints with sub-centimeter accuracy under the inherited refinement protocol while retaining text-conditioned motion quality. KV-Control reframes trajectory conditioning as lightweight memory retrieval, providing a small, precise, and transparent control interface for text-to-motion generation.

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Tengjiao Sun, Pengcheng Fang, Xiaoyu Zhan, Yanwen Guo, Dongjie Fu, Xiaohao Cai, Hansung Kim. 2026-06-04. KV-Control: Parameter-Efficient K/V Injection for Trajectory-Controlled Text-to-Motion. https://arxiv.org/abs/2606.05624

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