Phase VI · Days 78–84 · 17.5 hours
This week bridges generative models to robot control: behavioral cloning, action chunking, Decision Transformer, Diffusion Policy, and the critical question of how to represent and tokenize robot actions.
| Day | Topic | Focus |
|---|---|---|
| 78 | Imitation Learning | BC, DAgger, action chunking |
| 79 | ACT | Action Chunking Transformers |
| 80 | Decision Transformer | Offline RL as sequence modeling |
| 81 | Diffusion Policy | Denoising actions, not images |
| 82 | Action Representations | Continuous, discrete, delta, absolute |
| 83 | Action Tokenization | RT-2 discretization, VQ-VAE |
| 84 | Stop & Reflect #5 | Diffusing pixels → diffusing actions |