SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.
Consistency policy: Accelerated visuo- motor policies via consistency distillation
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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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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.