Guided Streaming Stochastic Interpolant Policy

Inference-time guidance is essential for steering generative robot policies toward dynamic objectives without retraining, yet existing methods are largely confined to chunk-based architectures that exhibit high latency and lack the reactivity needed for test-time preference alignment or obstacle avoidance. In this work, we formally derive the optimal guidance term for Stochastic Interpolants (SI) by analyzing the value function's time evolution via the Backward Kolmogorov Equation, establishing

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ethics.ai (11 May 2026), “Guided Streaming Stochastic Interpolant Policy,” evidence record 4590, https://ethics.ai/record/4590 (originally published by arXiv).

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