FOREWARN steers a diffusion robot policy at runtime by using a world model to predict latent futures and a vision-language model to narrate and rank those futures in natural language.
Policy search by dynamic programming
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From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment
FOREWARN steers a diffusion robot policy at runtime by using a world model to predict latent futures and a vision-language model to narrate and rank those futures in natural language.