{"id":"https://openalex.org/W7138853976","doi":"https://doi.org/10.48550/arxiv.2603.16368","title":"Encoding Predictability and Legibility for Style-Conditioned Diffusion Policy","display_name":"Encoding Predictability and Legibility for Style-Conditioned Diffusion Policy","publication_year":2026,"publication_date":"2026-03-17","ids":{"openalex":"https://openalex.org/W7138853976","doi":"https://doi.org/10.48550/arxiv.2603.16368"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.16368","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16368","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":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.16368","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5119949241","display_name":"Adrien Jacquet Cr\u00e9tides","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cr\u00e9tides, Adrien Jacquet","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093251735","display_name":"Mouad Abrini","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abrini, Mouad","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130200557","display_name":"Hamed Rahimi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Rahimi, Hamed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129784585","display_name":"Mohamed Chetouani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chetouani, Mohamed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":[],"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/T10653","display_name":"Robot Manipulation and Learning","score":0.6220999956130981,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.6220999956130981,"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.15060000121593475,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.07829999923706055,"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/legibility","display_name":"Legibility","score":0.8711000084877014},{"id":"https://openalex.org/keywords/predictability","display_name":"Predictability","score":0.5170000195503235},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.4984999895095825},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46650001406669617},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.4320000112056732},{"id":"https://openalex.org/keywords/ambiguity","display_name":"Ambiguity","score":0.4189999997615814},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.375900000333786}],"concepts":[{"id":"https://openalex.org/C2779332521","wikidata":"https://www.wikidata.org/wiki/Q1820694","display_name":"Legibility","level":2,"score":0.8711000084877014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.692799985408783},{"id":"https://openalex.org/C197640229","wikidata":"https://www.wikidata.org/wiki/Q2534066","display_name":"Predictability","level":2,"score":0.5170000195503235},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.4984999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4683000147342682},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46650001406669617},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.4320000112056732},{"id":"https://openalex.org/C2780522230","wikidata":"https://www.wikidata.org/wiki/Q1140419","display_name":"Ambiguity","level":2,"score":0.4189999997615814},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3977999985218048},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.375900000333786},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.37450000643730164},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.33709999918937683},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.32739999890327454},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.3248000144958496},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3068000078201294},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2971999943256378},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.29030001163482666},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.26260000467300415},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2535000145435333}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.16368","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16368","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":"doi:10.48550/arxiv.2603.16368","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.16368","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":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.7603088021278381,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Striking":[0],"a":[1,9,31,34,77,86,103,113],"balance":[2],"between":[3],"efficiency":[4,94,170],"and":[5,23,43,51,111,117,143,154,157],"transparent":[6],"motion":[7,138],"is":[8,64,173],"core":[10],"challenge":[11],"in":[12,49,57,164],"human-robot":[13],"collaboration,":[14],"as":[15],"highly":[16],"expressive":[17,137],"movements":[18],"often":[19],"incur":[20],"unnecessary":[21],"time":[22],"energy":[24],"costs.":[25],"In":[26],"collaborative":[27],"environments,":[28],"legibility":[29,92,163,172],"allows":[30],"human":[32],"observer":[33],"better":[35],"understanding":[36],"of":[37,85],"the":[38,61,82,97,108,122,133,178],"robot's":[39,62],"actions,":[40],"increasing":[41],"safety":[42],"trust.":[44],"However,":[45],"these":[46],"behaviors":[47],"result":[48],"sub-optimal":[50],"exaggerated":[52],"trajectories":[53],"that":[54,80,106,160],"are":[55],"redundant":[56],"low-ambiguity":[58],"scenarios":[59],"where":[60],"goal":[63],"already":[65],"obvious.":[66],"To":[67],"address":[68],"this":[69],"trade-off,":[70],"we":[71],"propose":[72],"Style-Conditioned":[73],"Diffusion":[74],"Policy":[75],"(SCDP),":[76],"modular":[78],"framework":[79],"constrains":[81],"trajectory":[83],"generation":[84],"pre-trained":[87],"diffusion":[88,123],"model":[89],"toward":[90],"either":[91],"or":[93],"based":[95],"on":[96,152],"environment's":[98],"configuration.":[99],"Our":[100],"method":[101],"utilizes":[102],"post-training":[104],"pipeline":[105],"freezes":[107],"base":[109,179],"policy":[110],"trains":[112],"lightweight":[114],"scene":[115],"encoder":[116],"conditioning":[118],"predictor":[119],"to":[120,145],"modulate":[121],"process.":[124],"At":[125],"inference":[126],"time,":[127],"an":[128],"ambiguity":[129],"detection":[130],"module":[131],"activates":[132],"appropriate":[134],"conditioning,":[135],"prioritizing":[136],"only":[139],"for":[140],"ambiguous":[141,165],"goals":[142],"reverting":[144],"efficient":[146],"paths":[147],"otherwise.":[148],"We":[149],"evaluate":[150],"SCDP":[151],"manipulation":[153],"navigation":[155],"tasks,":[156],"results":[158],"show":[159],"it":[161],"enhances":[162],"settings":[166],"while":[167],"preserving":[168],"optimal":[169],"when":[171],"unnecessary,":[174],"all":[175],"without":[176],"retraining":[177],"policy.":[180]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-20T00:00:00"}