SADP trains diffusion policies on foundation-model-generated subgoal-annotated demonstrations and adds a completion predictor to give robots built-in, subgoal-level explainability alongside improved task performance.
Scaling up and distilling down: Language-guided robot skill acquisition
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SADP: Subgoal-Aware Diffusion Policy for Explainable Robots Learned from Foundation Model Generated Demonstrations
SADP trains diffusion policies on foundation-model-generated subgoal-annotated demonstrations and adds a completion predictor to give robots built-in, subgoal-level explainability alongside improved task performance.