Diffusion Sequence Models for Generative In-Context Meta-Learning of Robot Dynamics
Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem and compare deterministic and generative sequence models for forward dynamics prediction. We take a Transformer-based meta-model, as a strong deterministic baseline, and introduce to this setting two complementary diffusion-based approaches: (i) inpainting diffusion (Diffuser), which learns the joint input-observation distribution, and (ii) conditioned diffusion models (CNN and Transformer), which generate future observations conditioned on control inp...
| Authors | Angelo Moroncelli, Matteo Rufolo, Gunes Cagin Aydin et al. |
|---|---|
| Primary category | cs.LG |
| Published | 15 April 2026 |
| Last updated at source | 20 April 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.