Methods, apparatuses, and computer-readable storage media for guided diffusion policy-based machine control

An apparatus comprising:

• at least one processor;
• and
• one or more non-transitory computer-readable storage media functionally coupled to the at least one processor;
• wherein the one or more non-transitory computer-readable storage media comprise computer-executable instructions, wherein the instructions, when executed, cause the at least one processor to perform a method for guided diffusion policy-based machine control, the method comprising:
• initializing an action queue, the action queue comprising a sequence of H actions for controlling a machine, wherein H is an integer, the sequence of actions having monotonically increasing noise;
• and
• repeating a set of steps to iteratively generate a sequence of denoised machine control actions using a diffusion model having H sampling steps, the set of steps comprising, for each iteration:
• performing a respective denoising step on the action queue using the diffusion model, thereby generating a respective denoised machine control action at a front of the action queue;
• outputting the respective denoised machine control action for controlling the machine;
• generating a respective guidance signal as a function of guidance data;
• and
• applying the respective guidance signal to the action queue;
• and
• updating the action queue, comprising removing the respective denoised machine control action from the front of the action queue.