{"id":"https://openalex.org/W4413925270","doi":"https://doi.org/10.1109/icra55743.2025.11127641","title":"Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks","display_name":"Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925270","doi":"https://doi.org/10.1109/icra55743.2025.11127641"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085089494","display_name":"Zeyu Feng","orcid":"https://orcid.org/0000-0002-6069-7060"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zeyu Feng","raw_affiliation_strings":["School of Computing, National University of Singapore,Department of Computer Science,Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045726084","display_name":"Hao Luan","orcid":"https://orcid.org/0000-0001-6885-1504"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Hao Luan","raw_affiliation_strings":["School of Computing, National University of Singapore,Department of Computer Science,Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119516795","display_name":"Kevin Yuchen","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Kevin Yuchen Ma","raw_affiliation_strings":["School of Computing, National University of Singapore,Department of Computer Science,Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066073375","display_name":"Harold Soh","orcid":"https://orcid.org/0000-0002-3278-0035"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Harold Soh","raw_affiliation_strings":["School of Computing, National University of Singapore,Department of Computer Science,Singapore"],"affiliations":[{"raw_affiliation_string":"School of Computing, National University of Singapore,Department of Computer Science,Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085089494"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.28956071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10854","last_page":"10860"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11079","display_name":"Creativity in Education and Neuroscience","score":0.7767999768257141,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T11079","display_name":"Creativity in Education and Neuroscience","score":0.7767999768257141,"subfield":{"id":"https://openalex.org/subfields/3205","display_name":"Experimental and Cognitive Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.725440502166748},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.6541038751602173},{"id":"https://openalex.org/keywords/composition","display_name":"Composition (language)","score":0.625715970993042},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.5898774266242981},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4105716347694397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3161779046058655}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.725440502166748},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.6541038751602173},{"id":"https://openalex.org/C40231798","wikidata":"https://www.wikidata.org/wiki/Q1333743","display_name":"Composition (language)","level":2,"score":0.625715970993042},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.5898774266242981},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4105716347694397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3161779046058655},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1501856433","https://openalex.org/W1540883472","https://openalex.org/W2009064992","https://openalex.org/W2013035813","https://openalex.org/W2015810892","https://openalex.org/W2023808162","https://openalex.org/W2109910161","https://openalex.org/W2116341502","https://openalex.org/W2124623089","https://openalex.org/W2138779671","https://openalex.org/W2141088850","https://openalex.org/W2165364079","https://openalex.org/W2594675090","https://openalex.org/W2604314403","https://openalex.org/W2810178509","https://openalex.org/W3205027972","https://openalex.org/W3213843225","https://openalex.org/W4213251304","https://openalex.org/W4313418930","https://openalex.org/W4385403811","https://openalex.org/W4401415757","https://openalex.org/W4401607627","https://openalex.org/W4402727783"],"related_works":["https://openalex.org/W4365211920","https://openalex.org/W3014948380","https://openalex.org/W4391584540","https://openalex.org/W4380551139","https://openalex.org/W4317695495","https://openalex.org/W4395044357","https://openalex.org/W4287117424","https://openalex.org/W4387506531","https://openalex.org/W2087346071","https://openalex.org/W2967848559"],"abstract_inverted_index":{"Safe":[0],"and":[1,22,56,109,124,144],"successful":[2],"deployment":[3],"of":[4,31,75,111,133],"robots":[5],"requires":[6],"not":[7],"only":[8],"the":[9,17,29,107,138],"ability":[10],"to":[11,19,89,116],"generate":[12,90,131],"complex":[13],"plans":[14,58],"but":[15],"also":[16],"capacity":[18],"frequently":[20],"replan":[21],"correct":[23],"execution":[24],"errors.":[25],"This":[26],"paper":[27],"addresses":[28],"challenge":[30],"long-horizon":[32],"trajectory":[33],"planning":[34],"under":[35],"temporally":[36],"extended":[37],"objectives":[38],"in":[39],"a":[40,50,97],"receding":[41],"horizon":[42],"manner.":[43],"To":[44],"this":[45],"end,":[46],"we":[47],"propose":[48],"Doppler,":[49],"data-driven":[51],"hierarchical":[52,78],"framework":[53],"that":[54,128,135],"generates":[55],"updates":[57],"based":[59],"on":[60,121],"instruction":[61],"specified":[62,139],"by":[63],"linear":[64],"temporal":[65,71],"logic":[66],"(LTL).":[67],"Our":[68],"method":[69],"decomposes":[70],"tasks":[72,126],"into":[73],"chain":[74],"options":[76,91],"with":[77,92],"reinforcement":[79],"learning":[80],"from":[81],"offline":[82],"non-expert":[83],"datasets.":[84],"It":[85],"leverages":[86],"diffusion":[87,112],"models":[88],"low-level":[93],"actions.":[94],"We":[95],"devise":[96],"determinantal-guided":[98],"posterior":[99],"sampling":[100],"technique":[101],"during":[102],"batch":[103],"generation,":[104],"which":[105],"improves":[106],"speed":[108],"diversity":[110],"generated":[113],"options,":[114],"leading":[115],"more":[117],"efficient":[118],"querying.":[119],"Experiments":[120],"robot":[122],"navigation":[123],"manipulation":[125],"demonstrate":[127],"Doppler":[129],"can":[130],"sequences":[132],"trajectories":[134],"progressively":[136],"satisfy":[137],"formulae":[140],"for":[141],"obstacle":[142],"avoidance":[143],"sequential":[145],"visitation.":[146]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}