CoRDE uses concept-prior variational distillation and LoRA-based expert pools to route diffusion models for structurally generalizable robot manipulation policies.
Hima- con: Discovering hierarchical manipulation concepts from unlabeled multi-modal data,
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CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
CoRDE uses concept-prior variational distillation and LoRA-based expert pools to route diffusion models for structurally generalizable robot manipulation policies.