(I work at Pi.)

We open-sourced Pi0 (referenced in this post): https://github.com/Physical-Intelligence/openpi

It uses an inpainting algorithm (adapted from image generation literature) to produce future actions that are consistent with the current trajectory. It's sort of like warm-starting from a cached plan, although the plan isn't latent, it's directly in action space. Hopefully that answers your question -- there are many more details in the blog post and paper :)

Just need one that can plug in USB-A cables the first attempt (I average 3 attempts).

“Soon, a robot will fix the cables in the server room for me!”