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        }
      ],
      "xlabel": "Constructed action coordinate",
      "ylabel": "Probability density",
      "logx": false,
      "logy": false
    }
  ],
  "title": "A conditional mean can fall between two high-density action modes",
  "assumptions": "Equal Gaussian modes centered-1,+1, standard deviation0.18. No robot trajectories, obstacle measurements or safety experiment.",
  "worked": "对称双峰分布的均值为0，但0附近密度远低于±1。它说明均值可能不代表可行模式，不证明扩散策略自动满足任何机器人约束。",
  "source_ids": [
    "arxiv-2303.04137",
    "arxiv-2304.13705",
    "arxiv-2307.15818"
  ],
  "formula_source": "Article equations and this versioned script",
  "diagram_nodes": [
    "观察与硬件标定",
    "条件动作序列生成",
    "去噪与动作约束",
    "滚动窗口执行",
    "新观察 / 延迟 / 停止",
    "闭环成功及安全分项"
  ]
}