SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.
Skilldiffuser: Interpretable hierarchical planning via skill abstractions in diffusion-based task execution
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Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.