Cheng Deng

Raise One and Infer Three: Toward Reasoning- and Memory-Augmented Diffusion Policy Generalization

This work proposes "raise one and infer three" diffusion policy (ROITDP), a novel approach that introduces two complementary mechanisms, including a reasoning mechanism built upon the Chain-of-Skill Noise Watermark, which enables temporally coherent multi-step reasoning throughout the diffusion process under distributi...