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Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Diffusion learning leverages the statistical mechanism of diffusion processes for learning, reasoning, and inferring complex distributions from data. Recent advances in diffusion learning have been transformative, with robot learning emerging as a key opportunity area, with applications spanning perception, control, and decision-making. At the same time, the statistical mechanism of diffusion processes can be controlled to shape the temporal evolution of the state distribution underlying robot trajectories, inducing ergodic behavior in robotic systems. The frameworks of controlled diffusion an

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