A single diffusion policy network with per-factor null-token dropout enables additive score composition for robot control under conditional independence, with a trajectory-tube certificate, shown to generalize on drone racing tasks.
Robotics: Science and Systems (RSS) , year =
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HELM raises long-horizon VLA success from 58.4% to 81.5% on LIBERO-LONG by combining episodic memory retrieval, learned failure prediction, and replanning, outperforming context extension or adaptation alone.
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Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network
A single diffusion policy network with per-factor null-token dropout enables additive score composition for robot control under conditional independence, with a trajectory-tube certificate, shown to generalize on drone racing tasks.
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HELM: Harness-Enhanced Long-horizon Memory for Vision-Language-Action Manipulation
HELM raises long-horizon VLA success from 58.4% to 81.5% on LIBERO-LONG by combining episodic memory retrieval, learned failure prediction, and replanning, outperforming context extension or adaptation alone.