Infinite-Dimensional Diffusion Policies via Inverse Kolmogorov PDEs

This post accompanies my recent work, Visuomotor Diffusion Policies via Inverse PDEs ( RoboDiff ). It distills two companion notes — a first-principles derivation of the backward Kolmogorov equation (BKE) in infinite dimensions, and a hands-on PushT exposition notebook — into one narrative. The claim in a sentence: for long-horizon planning, don’t diffuse points — diffuse functions. Why…