{"id":"https://openalex.org/W4403621489","doi":"https://doi.org/10.48550/arxiv.2409.07163","title":"Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models","display_name":"Mamba Policy: Towards Efficient 3D Diffusion Policy with Hybrid Selective State Models","publication_year":2024,"publication_date":"2024-09-11","ids":{"openalex":"https://openalex.org/W4403621489","doi":"https://doi.org/10.48550/arxiv.2409.07163"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2409.07163","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07163","pdf_url":"https://arxiv.org/pdf/2409.07163","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2409.07163","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015422529","display_name":"Jiahang Cao","orcid":"https://orcid.org/0000-0003-4338-4414"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Cao, Jiahang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100381904","display_name":"Qiang Zhang","orcid":"https://orcid.org/0000-0002-2828-9905"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Qiang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049574394","display_name":"Jingkai Sun","orcid":"https://orcid.org/0000-0002-1032-2957"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jingkai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101468620","display_name":"Jiaxu Wang","orcid":"https://orcid.org/0000-0003-1277-6896"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Jiaxu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089850879","display_name":"Hao Cheng","orcid":"https://orcid.org/0000-0003-0534-4665"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cheng, Hao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100413223","display_name":"Yulin Li","orcid":"https://orcid.org/0000-0001-7909-0763"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yulin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100357282","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-6127-000X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Jun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043133324","display_name":"Yecheng Shao","orcid":"https://orcid.org/0000-0001-5946-4238"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Kun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101529559","display_name":"Wen Zhao","orcid":"https://orcid.org/0000-0002-6329-5913"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Zhiyuan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100899705","display_name":"Gang Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shao, Yecheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100572173","display_name":"Yijie Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Wen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100616654","display_name":"Renjing Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Gang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":null,"display_name":"Guo, Yijie","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Yijie","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Xu, Renjing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Renjing","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5015422529"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10471","display_name":"Climate Change Policy and Economics","score":0.7073000073432922,"subfield":{"id":"https://openalex.org/subfields/2002","display_name":"Economics and Econometrics"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},"topics":[{"id":"https://openalex.org/T10471","display_name":"Climate Change Policy and Economics","score":0.7073000073432922,"subfield":{"id":"https://openalex.org/subfields/2002","display_name":"Economics and Econometrics"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T14166","display_name":"European Monetary and Fiscal Policies","score":0.6018999814987183,"subfield":{"id":"https://openalex.org/subfields/2003","display_name":"Finance"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10067","display_name":"Stochastic processes and financial applications","score":0.5770000219345093,"subfield":{"id":"https://openalex.org/subfields/2003","display_name":"Finance"},"field":{"id":"https://openalex.org/fields/20","display_name":"Economics, Econometrics and Finance"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.6004942655563354},{"id":"https://openalex.org/keywords/state-policy","display_name":"State policy","score":0.5793869495391846},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5674811601638794},{"id":"https://openalex.org/keywords/business","display_name":"Business","score":0.3730497360229492},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3138691782951355},{"id":"https://openalex.org/keywords/economic-policy","display_name":"Economic policy","score":0.1503366231918335},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.11368033289909363},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1070595383644104},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.09285447001457214}],"concepts":[{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.6004942655563354},{"id":"https://openalex.org/C3019808023","wikidata":"https://www.wikidata.org/wiki/Q546113","display_name":"State policy","level":3,"score":0.5793869495391846},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5674811601638794},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.3730497360229492},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3138691782951355},{"id":"https://openalex.org/C105639569","wikidata":"https://www.wikidata.org/wiki/Q582577","display_name":"Economic policy","level":1,"score":0.1503366231918335},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.11368033289909363},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1070595383644104},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.09285447001457214},{"id":"https://openalex.org/C3019953208","wikidata":"https://www.wikidata.org/wiki/Q159","display_name":"Russian federation","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2409.07163","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07163","pdf_url":"https://arxiv.org/pdf/2409.07163","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2409.07163","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2409.07163","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2409.07163","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2409.07163","pdf_url":"https://arxiv.org/pdf/2409.07163","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4403621489.pdf"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W3046220232","https://openalex.org/W4299536169"],"abstract_inverted_index":{"Diffusion":[0],"models":[1,29],"have":[2],"been":[3],"widely":[4],"employed":[5],"in":[6,69,158],"the":[7,50,77,87,95,106,134,139,153,167,174],"field":[8],"of":[9,24,121,169],"3D":[10],"manipulation":[11],"due":[12],"to":[13,17,44,94,162,183],"their":[14],"efficient":[15,60],"capability":[16],"learn":[18],"distributions,":[19],"allowing":[20],"for":[21,59,126],"precise":[22],"prediction":[23],"action":[25],"trajectories.":[26],"However,":[27],"diffusion":[28],"typically":[30],"rely":[31],"on":[32,46,138],"large":[33],"parameter":[34,88],"UNet":[35],"backbones":[36],"as":[37,55],"policy":[38,84,97],"networks,":[39],"which":[40,109],"can":[41,192],"be":[42,193],"challenging":[43],"deploy":[45],"resource-constrained":[47],"devices.":[48],"Recently,":[49],"Mamba":[51,78,122,135,154,171,175],"model":[52],"has":[53],"emerged":[54],"a":[56,80,119],"promising":[57],"solution":[58],"modeling,":[61],"offering":[62],"low":[63],"computational":[64,148],"complexity":[65],"and":[66,117,123,142,165],"strong":[67],"performance":[68,168],"sequence":[70],"modeling.":[71],"In":[72],"this":[73],"work,":[74],"we":[75,104,151],"propose":[76],"Policy,":[79],"lighter":[81],"but":[82],"stronger":[83],"that":[85,133],"reduces":[86],"count":[89],"by":[90],"over":[91],"80%":[92],"compared":[93,161],"original":[96],"network":[98],"while":[99],"achieving":[100],"superior":[101],"performance.":[102],"Specifically,":[103],"introduce":[105],"XMamba":[107],"Block,":[108],"effectively":[110],"integrates":[111],"input":[112],"information":[113],"with":[114],"conditional":[115],"features":[116],"leverages":[118],"combination":[120],"Attention":[124],"mechanisms":[125],"deep":[127],"feature":[128],"extraction.":[129],"Extensive":[130],"experiments":[131,179],"demonstrate":[132],"Policy":[136,176],"excels":[137],"Adroit,":[140],"Dexart,":[141],"MetaWorld":[143],"datasets,":[144],"requiring":[145],"significantly":[146],"fewer":[147],"resources.":[149],"Additionally,":[150],"highlight":[152],"Policy's":[155],"enhanced":[156],"robustness":[157],"long-horizon":[159],"scenarios":[160],"baseline":[163],"methods":[164],"explore":[166],"various":[170],"variants":[172],"within":[173],"framework.":[177],"Real-world":[178],"are":[180],"also":[181],"conducted":[182],"further":[184],"validate":[185],"its":[186],"effectiveness.":[187],"Our":[188],"open-source":[189],"project":[190],"page":[191],"found":[194],"at":[195],"https://andycao1125.github.io/mamba_policy/.":[196]},"counts_by_year":[],"updated_date":"2026-02-09T09:26:11.010843","created_date":"2025-10-10T00:00:00"}