Causal Diffusion Policy adds historical action conditioning and attention cache sharing to diffusion-based robot policies, improving success rates on most tested manipulation tasks under degraded observations.
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CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Causal Diffusion Policy adds historical action conditioning and attention cache sharing to diffusion-based robot policies, improving success rates on most tested manipulation tasks under degraded observations.