Author

Noah Giles

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#machine learning May 2026

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

This work presents factored diffusion policies: a single shared diffusion network trained with per-factor null-token dropout, whose score decomposes additively across factors at inference, under approximate conditional independence between factors given the action-observation pair.

Sayan Mitra, Ege Yuceel, Noah Giles et al. · arXiv.org · 1 citation