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.
Flowpolicy: Enabling fast and robust 3d flow-based policy via consistency flow matching for robot manipulation
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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.