A mixture-of-experts diffusion policy conditioned on object, pose, depth, and trajectory mid-level representations is reported to outperform language-only and representation-free baselines on bimanual dexterous tasks, and self-consistency weighting adds further reported gains.
Spatialvlm: Endowing vision- language models with spatial reasoning capabilities,
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Bridging Perception and Action: Spatially-Grounded Mid-Level Representations for Robot Generalization
A mixture-of-experts diffusion policy conditioned on object, pose, depth, and trajectory mid-level representations is reported to outperform language-only and representation-free baselines on bimanual dexterous tasks, and self-consistency weighting adds further reported gains.