PSEC shows that weighting and summing LoRA skill modules inside a diffusion policy network outperforms composing the same skills in action or noise space across D4RL, DSRL, DMC, and Meta-World tasks.
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Skill Expansion and Composition in Parameter Space
PSEC shows that weighting and summing LoRA skill modules inside a diffusion policy network outperforms composing the same skills in action or noise space across D4RL, DSRL, DMC, and Meta-World tasks.