Author

Wenjun Cao

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Preprint Jul 2026

SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation

Imitation learning enables robots to acquire manipulation skills from demonstrations by mapping observations to actions. Existing approaches predict either short-horizon continuous action sequences or discrete keyposes. However, continuous prediction methods suffer from compounding errors due to short prediction horizo...

Haidong Cao, Wenjun Cao, Quanhao Li et al. · 0 citations