Official evaluation checkpoints for PredActor, a predictive action diffusion controller for steerable Unitree G1 locomotion. The model jointly predicts future states and actions, uses its internal state trajectory for guidance, and directly executes the selected 29-DoF action. This repository contains the two learned artifacts required by the public - the released PDP051 text-conditioned PredActor policy; - the fine-tuned G1 MotionCLIP encoder used for semantic conditioning. Source code, the browser-based evaluator, and G1 robot assets are maintained in the public PredActor repository. Training datasets, experiment outputs, hardware deployment bundles, and additional checkpoints are not…