VOiLA: Vectorized Online Planning with Learned Diffusion Models for POMDP Agents
VOiLA is a framework that learns task-agnostic POMDP world models using diffusion models to handle uncertainty without needing prior models. It learns transition and observation samplers from simulation data, distills them into fast generators, and integrates them with an online planner (VOPP). This allows for efficient planning in real-time while generalizing well to new environments.