DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
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Standard success metrics for VLAs on complex chores overlook safety violations and intermediate failures, leading to exaggerated claims; new evaluation protocols are proposed to measure robustness and safety.
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DSSP: Diffusion State Space Policy with Full-History Encoding
DSSP is a history-conditioned diffusion state space policy that uses SSMs to encode full observation streams with an auxiliary dynamics objective and hierarchical fusion, achieving SOTA results with reduced model size in robot manipulation.
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How VLAs (Really) Work In Open-World Environments
Standard success metrics for VLAs on complex chores overlook safety violations and intermediate failures, leading to exaggerated claims; new evaluation protocols are proposed to measure robustness and safety.