TapSampling improves generalist robotic manipulation policies at inference time via latent action sampling with an Action-VAE and selection by a task-progress outcome predictor.
Noise pro- jection: Closing the prompt-agnostic gap behind text-to- image misalignment in diffusion models.arXiv preprint arXiv:2510.14526,
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TapSampling: Inference-Time Sampling with a Task-Progress-Understanding Verifier for Robotic Manipulation
TapSampling improves generalist robotic manipulation policies at inference time via latent action sampling with an Action-VAE and selection by a task-progress outcome predictor.