3 papers
cs.RO2026
MOSAIC: Mode- and Support-Aware Inference-Time Control of Robot Diffusion Models
Sabrina Bodmer, Rahel Rickenbach, René Zurbrügg +2
Generative policies such as diffusion models provide expressive data-driven priors for robot behavior, yet the situations a robot faces at execution time rarely match its training…
cs.RO2026
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5
Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may violate deployment constraints. For task-space robot policies, generated…
math.OC2025
Human-in-the-loop: Real-time Preference Optimization
Wenbin Wang, Wenjie Xu, Colin N. Jones
Optimization with preference feedback is an active research area with many applications in engineering systems where humans play a central role, such as building control and autono…