MOSAIC: Mode- and Support-Aware Inference-Time Control of Robot Diffusion Models

arXiv:2610.17001 · cs.RO · Submitted 2026-10-12 · Read on arXiv

cs.RO

Submitted: 2026-10-12

Updated: 2026-10-12

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Diffusion Model — 1× in this paper · explained in 10 episodes
• Diffusion Models — 1× in this paper · explained in 9 episodes

Sources

• Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
• Denoising Diffusion Implicit Models
• Potential Based Diffusion Motion Planning
• DexEvolve: Evolutionary Optimization for Robust and Diverse Dexterous Grasp Synthesis

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