SANTS adaptively chooses denoising depth in video-based robot action diffusion policies using a state-dependent stopping hazard and noise ratio, trained via downstream action reward to reduce latency.
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SANTS: A State-Adaptive Scheduler for World Action Models
SANTS adaptively chooses denoising depth in video-based robot action diffusion policies using a state-dependent stopping hazard and noise ratio, trained via downstream action reward to reduce latency.