Derives optimal inference-time guidance for stochastic interpolant policies via Kolmogorov equation analysis, enabling reactive streaming robot control with training-free and training-based mechanisms.
The trajectory cost is defined as the cumulative distance potential:J(τ) = P exp − ∥x−xobs∥2 2σ2
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Guided Streaming Stochastic Interpolant Policy
Derives optimal inference-time guidance for stochastic interpolant policies via Kolmogorov equation analysis, enabling reactive streaming robot control with training-free and training-based mechanisms.