نسخة أولية وصول مفتوح
Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment
When diffusion policies were first introduced, they were expected to recover multi-modal action distributions. However, we find this expectation does not always hold, as diffusion policies often collapse to a single modality even when we guarantee the balance of dataset modalities and exact within-batch symmetry. Our a …