Figure 1 Learning to act in generative action sets. A theory of how learning to act operates in an open world using generative models. 1 Generative Models as RL Policies Janner et al. (2022) → First work treating diffusion models as control policies; inspired “Diffusion‑DICE”. Chen et al. (2021) → Pioneered autoregressive policy generation conditioned on rewards and trajectories. Lu et al. (2023) → Introduced energy‑based control of diffusion policies — a bridge to goal‑con...
