Async replanning stops restarting from independent noise: a shared noise trajectory follows real execution displacement, reaching 96.7% on real-robot cloth folding
Generative robot policies no longer restart from independent Gaussian noise at every asynchronous replanning step; adjacent action chunks now share an initial noise trajectory aligned to actual execution displacement and correlated along action time, reaching 96.7% success on real-robot cloth folding and 90.0% on object storage.