Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network

arXiv:2605.22596 · cs.LG · Submitted 2026-05-21 · Read on arXiv

cs.LG

Submitted: 2026-05-21

Updated: 2026-09-28

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Conditional Independence — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition
• Composing Diffusion Policies for Few-shot Learning of Movement Trajectories

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