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.
Don’t Start From Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
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InCoM achieves 23-28% higher success rates in mobile manipulation tasks by inferring motion intent for adaptive perception and decoupling base-arm action generation.
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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.
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InCoM: Intent-Driven Perception and Structured Coordination for Mobile Manipulation
InCoM achieves 23-28% higher success rates in mobile manipulation tasks by inferring motion intent for adaptive perception and decoupling base-arm action generation.