Preprint
Sep 2026
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...
Zan-Yi Wang, Yu-Heng Lei, Deng-Yang Jiang et al.
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