2026
Masked Generative Policy for Robotic Control
Lipeng Zhuang, Shiyu Fan, Florent P. Audonnet, Yingdong Ru, Edmond S. L. Ho, Gerardo Aragon-Camarasa +1
ICLR 2026poster
We present Masked Generative Policy (MGP), a novel framework for visuomotor imitation learning. We represent actions as discrete tokens, and train a conditional masked transformer that generates tokens in parallel and then rapidly refines only low-confidence tokens. We further propose two new sampli…