نسخة أولية وصول مفتوح
Beyond Future Prediction: Denoising as Generative Adaptation for Robot Control
Pretrained generative Diffusion Transformers (DiTs) capture rich pixel-level visual and language-conditioned structure through large-scale image and video generation training. A growing line of robot policies builds on this generative prior, but how it should be transferred to control remains unclear, and existing appr …