DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation

arXiv:2609.37348 · cs.RO · Submitted 2026-09-29 · Read on arXiv

cs.RO

Submitted: 2026-09-29

Updated: 2026-09-29

Code: https://github.com/automation-robotics-machines/drom

Terminology

• Diffusion Model — 69× in this paper · explained in 8 episodes
• Diffusion Models — 17× in this paper · explained in 6 episodes
• Alignment — 9× in this paper · explained in 1 episode
• Dynamic Movement Primitive — 9× in this paper
• Generalization — 9× in this paper · explained in 13 episodes
• Conformal Prediction — 8× in this paper · explained in 5 episodes
• Diffusion Process — 6× in this paper · explained in 2 episodes
• Embeddings — 6× in this paper · explained in 2 episodes
• Robustness — 6× in this paper · explained in 5 episodes
• Accuracy — 5× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Task Decomposition — 5× in this paper · explained in 2 episodes
• Uncertainty Quantification — 5× in this paper · explained in 8 episodes
• Flow Matching — 4× in this paper · explained in 8 episodes
• Foundation Model — 4× in this paper · explained in 3 episodes
• Foundation Models — 4× in this paper · explained in 7 episodes
• Transformer — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Attention Mechanism — 3× in this paper · explained in 3 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Data Augmentation — 3× in this paper · explained in 7 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• Motion Planning Diffusion — 3× in this paper
• U-net architecture — 3× in this paper · explained in 3 episodes
• Consistency — 2× in this paper · explained in 3 episodes
• Core — 2× in this paper · explained in 2 episodes
• Cross-Attention Mechanism — 2× in this paper · explained in 2 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Task Planning — 2× in this paper · explained in 2 episodes
• Adam — 1× in this paper · explained in 2 episodes
• Adaptability — 1× in this paper · explained in 1 episode
• Affordance — 1× in this paper · explained in 1 episode
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Distillation — 1× in this paper · explained in 2 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Hallucination — 1× in this paper · explained in 3 episodes
• Large Language Model (LLM) — 1× in this paper · explained in 3 episodes
• MPD and Behavior Cloning — 1× in this paper
• Multimodal Reasoning — 1× in this paper · explained in 5 episodes
• Online Adaptation — 1× in this paper · explained in 3 episodes
• Pairwise Comparisons — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• Real-World Robot Applications of Foundation Models: A Review
• Octo: An Open-Source Generalist Robot Policy
• RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control
• A Survey on Efficient Vision-Language-Action Models
• OpenVLA: An Open-Source Vision-Language-Action Model
• On the Opportunities and Risks of Foundation Models
• Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
• FlowMP: Learning Motion Fields for Robot Planning with Conditional Flow Matching
• Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning
• DNAct: Diffusion Guided Multi-Task 3D Policy Learning
• Imitating Human Behaviour with Diffusion Models
• Planning with Diffusion for Flexible Behavior Synthesis
• Diffusion Models For Multi-Modal Generative Modeling
• Multi-Robot Motion Planning with Diffusion Models
• Do As I Can, Not As I Say: Grounding Language in Robotic Affordances
• Guiding Long-Horizon Task and Motion Planning with Vision Language Models
• Learning Compositional Behaviors from Demonstration and Language
• Behavioral Cloning from Observation
• gpt-oss-120b & gpt-oss-20b Model Card
• ros2 fanuc interface: Design and Evaluation of a Fanuc CRX Hardware Interface in ROS2

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