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

Terminology

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

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