Controllable mode selection in TraceGen’s stochastic-interpolant decoder

Investigate and develop alternative stochastic-interpolant schedules and explicit control mechanisms within the TraceGen flow-based trace decoder—beyond the current linear interpolation ODE—to enable selection of a desired trajectory mode when multiple plausible futures exist for ambiguous manipulation tasks.

Background

TraceGen generates future scene-level 3D trajectories using a flow-based decoder trained under the Stochastic Interpolant framework, instantiated with a linear interpolation ODE schedule. This choice enables sampling diverse outputs by varying noise seeds but does not provide explicit control over which trajectory mode is produced in multimodal settings.

The authors explicitly note they have not explored different interpolant schedules or mechanisms for mode control. Addressing this gap would allow deliberate selection among multiple plausible futures—crucial for ambiguous tasks where several valid motion outcomes exist.