Author

J. Hong

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Jul 2026

GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

Gradient-free Robot Action generation via Combined diffusion-MPPI posterior mean Estimation (GRACE), which guides a pretrained diffusion policy with Model Predictive Path Integral (MPPI) control using only forward cost evaluations.

Leesai Park, J. Hong, Sanghyun Kim · arXiv.org · 0 citations