A factorized modular diffusion policy improves fitting of multimodal robot actions and enables flexible task adaptation without catastrophic forgetting.
Diffusion policy: Visuomotor policy learning via action diffusion.The International Journal of Robotics Research, 2024
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Flexible Multitask Learning with Factorized Diffusion Policy
A factorized modular diffusion policy improves fitting of multimodal robot actions and enables flexible task adaptation without catastrophic forgetting.