arxivcs.RO2026-07-22
GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation
Leesai Park, Jiho HOng, Sanghyun Kim
Diffusion policies generate multimodal robot action sequences from demonstrations, but steering them toward deployment-time constraints typically relies on differentiable guidance costs. This excludes many practical safety constraints, such as binary collision checks, joint limit…