SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.
Task reconstruction and extrapolation forπ 0 using text latent
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Semantically Structured Mixture-of-Experts for Compositional Robotic Manipulation
SMoDP routes action chunks in a diffusion policy to semantically specialized experts via a VLM-supervised skill predictor and dual contrastive alignment, achieving better efficiency and compositional transfer than baselines.