{"id":"https://openalex.org/W7128796393","doi":"https://doi.org/10.1109/lra.2026.3664611","title":"Flexible Multitask Learning With Factorized Diffusion Policy","display_name":"Flexible Multitask Learning With Factorized Diffusion Policy","publication_year":2026,"publication_date":"2026-02-13","ids":{"openalex":"https://openalex.org/W7128796393","doi":"https://doi.org/10.1109/lra.2026.3664611"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3664611","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664611","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1109/lra.2026.3664611","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Chaoqi Liu","orcid":"https://orcid.org/0009-0001-1486-5852"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chaoqi Liu","raw_affiliation_strings":["University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0009-0001-1486-5852","affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028923399","display_name":"Huichao Chen","orcid":"https://orcid.org/0000-0002-3012-6531"},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Haonan Chen","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5099082798","display_name":"Sigmund H. H\u00f8eg","orcid":null},"institutions":[{"id":"https://openalex.org/I204778367","display_name":"Norwegian University of Science and Technology","ror":"https://ror.org/05xg72x27","country_code":"NO","type":"education","lineage":["https://openalex.org/I204778367"]}],"countries":["NO"],"is_corresponding":false,"raw_author_name":"Sigmund H. H\u00f8eg","raw_affiliation_strings":["Norwegian University of Science and Technology, Trondheim, Norway"],"raw_orcid":"https://orcid.org/0009-0002-8532-5631","affiliations":[{"raw_affiliation_string":"Norwegian University of Science and Technology, Trondheim, Norway","institution_ids":["https://openalex.org/I204778367"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050772005","display_name":"Shaoxiong Yao","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shaoxiong Yao","raw_affiliation_strings":["University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124925746","display_name":"Yunzhu Li","orcid":null},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunzhu Li","raw_affiliation_strings":["Columbia University, New York, NY, USA"],"raw_orcid":"https://orcid.org/0000-0002-1111-2150","affiliations":[{"raw_affiliation_string":"Columbia University, New York, NY, USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027878263","display_name":"Kris Hauser","orcid":"https://orcid.org/0000-0002-5207-1527"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kris Hauser","raw_affiliation_strings":["University of Illinois at Urbana-Champaign, Champaign, IL, USA"],"raw_orcid":"https://orcid.org/0000-0002-5207-1527","affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign, Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5126026381","display_name":"Yilun Du","orcid":null},"institutions":[{"id":"https://openalex.org/I2801851002","display_name":"Harvard University Press","ror":"https://ror.org/006v7bf86","country_code":"US","type":"other","lineage":["https://openalex.org/I136199984","https://openalex.org/I2801851002"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yilun Du","raw_affiliation_strings":["Harvard University, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harvard University, Cambridge, MA, USA","institution_ids":["https://openalex.org/I2801851002"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.0231,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.95836447,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"11","issue":"4","first_page":"4697","last_page":"4704"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6570000052452087,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6570000052452087,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.2493000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.04749999940395355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.8091999888420105},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.7882999777793884},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6394000053405762},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.5806999802589417},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.4832000136375427},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47440001368522644},{"id":"https://openalex.org/keywords/multi-task-learning","display_name":"Multi-task learning","score":0.38100001215934753},{"id":"https://openalex.org/keywords/policy-learning","display_name":"Policy learning","score":0.36800000071525574}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.8091999888420105},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7882999777793884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6848999857902527},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6394000053405762},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.5806999802589417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4876999855041504},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.4832000136375427},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47440001368522644},{"id":"https://openalex.org/C28006648","wikidata":"https://www.wikidata.org/wiki/Q6934509","display_name":"Multi-task learning","level":3,"score":0.38100001215934753},{"id":"https://openalex.org/C2779436431","wikidata":"https://www.wikidata.org/wiki/Q30672407","display_name":"Policy learning","level":2,"score":0.36800000071525574},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3653999865055084},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.35499998927116394},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.33410000801086426},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.31349998712539673},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3005000054836273},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.2847999930381775},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.2816999852657318},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2800999879837036},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.27309998869895935},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27230000495910645},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2705000042915344},{"id":"https://openalex.org/C88482812","wikidata":"https://www.wikidata.org/wiki/Q6453666","display_name":"Modular programming","level":2,"score":0.2702000141143799}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2026.3664611","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664611","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2512.21898","is_oa":true,"landing_page_url":"https://arxiv.org/abs/2512.21898","pdf_url":"https://arxiv.org/pdf/2512.21898","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.1109/lra.2026.3664611","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2026.3664611","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.5665588974952698,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Multitask":[0],"learning":[1],"poses":[2],"significant":[3],"challenges":[4],"due":[5],"to":[6,21,90],"the":[7,35,40,72],"highly":[8],"multimodal":[9],"and":[10,29,38,107,121],"diverse":[11],"nature":[12],"of":[13,62,71],"robot":[14],"action":[15,36,57],"distributions.":[16],"However,":[17],"effectively":[18],"fitting":[19],"policies":[20],"these":[22],"complex":[23,56],"task":[24],"distributions":[25,58],"is":[26],"often":[27,33],"difficult,":[28],"existing":[30],"monolithic":[31,122],"models":[32],"underfit":[34],"distribution":[37],"lack":[39],"flexibility":[41],"required":[42],"for":[43,75],"efficient":[44],"adaptation.":[45],"We":[46],"introduce":[47],"a":[48,60,68,76],"novel":[49],"modular":[50,84,120],"diffusion":[51,64],"policy":[52,88],"framework":[53],"that":[54],"factorizes":[55],"into":[59],"composition":[61],"specialized":[63],"models,":[65],"each":[66],"capturing":[67],"distinct":[69],"sub-mode":[70],"behavior":[73],"space":[74],"more":[77],"effective":[78],"overall":[79],"policy.":[80],"In":[81],"addition,":[82],"this":[83],"structure":[85],"enables":[86],"flexible":[87],"adaptation":[89],"new":[91],"tasks":[92],"by":[93],"adding":[94],"or":[95],"fine-tuning":[96],"components,":[97],"which":[98],"inherently":[99],"mitigates":[100],"catastrophic":[101],"forgetting.":[102],"Empirically,":[103],"across":[104],"both":[105],"simulation":[106],"real-world":[108],"robotic":[109],"manipulation":[110],"settings,":[111],"we":[112],"illustrate":[113],"how":[114],"our":[115],"method":[116],"consistently":[117],"outperforms":[118],"strong":[119],"baselines.":[123],"Website:":[124],"factorized-diffusion-policy.github.io.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-08-04T08:18:43.703281","created_date":"2026-02-06T00:00:00"}