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.
Fighting Copycat Agents in Behavioral Cloning from Observation Histories, October 2020
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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.