Aris Zhu

Inference-Time Enhancement of Generative Robot Policies via Predictive World Modeling

We present <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">generative predictive control</i> (GPC), a framework for <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">inference-time</i> enhancement of pr