Cover Image

Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Hao, Ce, Zhai, Xuanran, Liu, Yaohua, Soh, Harold
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reuse
by: Zhai, Xuanran, et al.
Published: (2026)

CoFreeVLA: Collision-Free Dual-Arm Manipulation via Vision-Language-Action Model and Risk Estimation
by: Zhai, Xuanran, et al.
Published: (2026)

VFP: Variational Flow-Matching Policy for Multi-Modal Robot Manipulation
by: Zhai, Xuanran, et al.
Published: (2025)

DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting
by: Hao, Ce, et al.
Published: (2024)

Hybrid Consistency Policy: Decoupling Multi-Modal Diversity and Real-Time Efficiency in Robotic Manipulation
by: Zhao, Qianyou, et al.
Published: (2025)

CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks
by: Hao, Ce, et al.
Published: (2025)

Guided Streaming Stochastic Interpolant Policy
by: Jiang, Puming, et al.
Published: (2026)

Learning Diffusion Policy from Primitive Skills for Robot Manipulation
by: Gu, Zhihao, et al.
Published: (2026)

Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
by: Deng, Chengyu, et al.
Published: (2026)

A Low-Cost Vision-Based Tactile Gripper with Pretraining Learning for Contact-Rich Manipulation
by: Liu, Yaohua, et al.
Published: (2026)

Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks
by: Feng, Zeyu, et al.
Published: (2024)

Language-Conditioned Representations and Mixture-of-Experts Policy for Robust Multi-Task Robotic Manipulation
by: Zhang, Xiucheng, et al.
Published: (2025)

Skill-Aware Diffusion for Generalizable Robotic Manipulation
by: Huang, Aoshen, et al.
Published: (2026)

Towards Human-Like Manipulation through RL-Augmented Teleoperation and Mixture-of-Dexterous-Experts VLA
by: Tang, Tutian, et al.
Published: (2026)

SeedPolicy: Horizon Scaling via Self-Evolving Diffusion Policy for Robot Manipulation
by: Gui, Youqiang, et al.
Published: (2026)

Expert Composer Policy: Scalable Skill Repertoire for Quadruped Robots
by: Christmann, Guilherme, et al.
Published: (2024)

GBPP: Grasp-Aware Base Placement Prediction for Robots via Two-Stage Learning
by: Chen, Jizhuo, et al.
Published: (2025)

Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion
by: Chen, Kaiqi, et al.
Published: (2024)

Diffusion Trajectory-guided Policy for Long-horizon Robot Manipulation
by: Fan, Shichao, et al.
Published: (2025)

Variational Distillation of Diffusion Policies into Mixture of Experts
by: Zhou, Hongyi, et al.
Published: (2024)

LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning
by: Feng, Zeyu, et al.
Published: (2024)

Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations
by: Ho, Chonlam, et al.
Published: (2025)

VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
by: Bi, Jianxin, et al.
Published: (2025)

Learning Diverse Skills for Behavior Models with Mixture of Experts
by: Shen, Wangtian, et al.
Published: (2026)

VADF: Vision-Adaptive Diffusion Policy Framework for Efficient Robotic Manipulation
by: Yu, Xinglei, et al.
Published: (2026)

Large Language Models as Zero-Shot Human Models for Human-Robot Interaction
by: Zhang, Bowen, et al.
Published: (2023)

Continuous Control of Diverse Skills in Quadruped Robots Without Complete Expert Datasets
by: Tu, Jiaxin, et al.
Published: (2025)

Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation
by: Zhu, Minjie, et al.
Published: (2024)

Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning
by: Reuss, Moritz, et al.
Published: (2024)

Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation
by: Lee, Sung-Wook, et al.
Published: (2024)

Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation
by: Helmut, Erik, et al.
Published: (2025)

Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulation
by: Lv, Qi, et al.
Published: (2025)

Semantic-Geometric-Physical-Driven Robot Manipulation Skill Transfer via Skill Library and Tactile Representation
by: Qi, Mingchao, et al.
Published: (2024)

MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery
by: Cheng, Baiye, et al.
Published: (2025)

ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulation
by: Xie, Weize, et al.
Published: (2026)

Learning Long-Horizon Robot Manipulation Skills via Privileged Action
by: Mao, Xiaofeng, et al.
Published: (2025)

Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
by: Bi, Jianxin, et al.
Published: (2024)

GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
by: Atanassov, Vassil, et al.
Published: (2025)

U-DiT Policy: U-shaped Diffusion Transformers for Robotic Manipulation
by: Wu, Linzhi, et al.
Published: (2025)

Adaptive Diffusion Policy Optimization for Robotic Manipulation
by: Jiang, Huiyun, et al.
Published: (2025)