{"id":"https://openalex.org/W7161268697","doi":"https://doi.org/10.48550/arxiv.2605.14598","title":"DSSP: Diffusion State Space Policy with Full-History Encoding","display_name":"DSSP: Diffusion State Space Policy with Full-History Encoding","publication_year":2026,"publication_date":"2026-05-14","ids":{"openalex":"https://openalex.org/W7161268697","doi":"https://doi.org/10.48550/arxiv.2605.14598"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14598","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.14598","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128674995","display_name":"ZhiYuan Guan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guan, Zhiyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103030508","display_name":"Jianshu Hu","orcid":"https://orcid.org/0009-0006-2837-425X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hu, Jianshu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136229571","display_name":"Han Fang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fang, Han","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101615243","display_name":"Yunpeng Jiang","orcid":"https://orcid.org/0000-0002-4152-8368"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Yunpeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121194169","display_name":"Yize Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yize","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136219710","display_name":"Shujia Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Shujia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136216412","display_name":"Xiao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xiao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5011762462","display_name":"Yutong Ban","orcid":"https://orcid.org/0000-0001-5396-9251"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ban, Yutong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.6424000263214111,"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":0.6424000263214111,"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":0.16210000216960907,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.054499998688697815,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/encoder","display_name":"Encoder","score":0.7103000283241272},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.6620000004768372},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6032000184059143},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5281000137329102},{"id":"https://openalex.org/keywords/context-model","display_name":"Context model","score":0.5138999819755554},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.49869999289512634},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.4885999858379364},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4641999900341034}],"concepts":[{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.7103000283241272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6704999804496765},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.6620000004768372},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6032000184059143},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5281000137329102},{"id":"https://openalex.org/C183322885","wikidata":"https://www.wikidata.org/wiki/Q17007702","display_name":"Context model","level":3,"score":0.5138999819755554},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.49869999289512634},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.4885999858379364},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4641999900341034},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43810001015663147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3788999915122986},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.3643999993801117},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.3596999943256378},{"id":"https://openalex.org/C80469333","wikidata":"https://www.wikidata.org/wiki/Q189088","display_name":"Von Neumann architecture","level":2,"score":0.35530000925064087},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.33410000801086426},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.33079999685287476},{"id":"https://openalex.org/C188198153","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiting","level":2,"score":0.33009999990463257},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C76679254","wikidata":"https://www.wikidata.org/wiki/Q5165163","display_name":"Context-dependent memory","level":4,"score":0.296999990940094},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2867000102996826},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2766000032424927},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.26339998841285706},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.25049999356269836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14598","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.14598","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.14598","pdf_url":null,"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":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Diffusion-based":[0],"imitation":[1],"learning":[2],"has":[3],"shown":[4],"strong":[5],"promise":[6],"for":[7,54,121],"robot":[8,55],"manipulation.":[9,56],"However,":[10],"most":[11],"existing":[12],"policies":[13],"condition":[14],"only":[15],"on":[16],"the":[17,58,73,93,137,169,177],"current":[18],"observation":[19,75],"or":[20],"a":[21,43,78,98,117,160],"short":[22],"window":[23],"of":[24,63,168],"recent":[25,112],"observations,":[26],"limiting":[27],"their":[28],"ability":[29],"to":[30,115,125],"resolve":[31],"history-dependent":[32],"ambiguities":[33],"in":[34,172],"long-horizon":[35],"tasks.":[36],"To":[37,82],"address":[38],"this,":[39],"we":[40,134],"introduce":[41],"DSSP,":[42],"history-conditioned":[44],"Diffusion":[45],"State":[46,64],"Space":[47,65],"Policy":[48],"that":[49,154],"enables":[50],"efficient,":[51],"full-history":[52],"conditioning":[53,119,171],"Leveraging":[57],"continuous":[59],"sequence":[60],"modeling":[61],"properties":[62],"Models":[66],"(SSMs),":[67],"our":[68],"history":[69,178],"encoder":[70,94],"effectively":[71],"compresses":[72],"entire":[74],"stream":[76],"into":[77],"compact":[79],"context":[80,85,105],"representation.":[81],"ensure":[83],"this":[84],"preserves":[86],"critical":[87],"information":[88,175],"regarding":[89],"future":[90],"state":[91,113],"evolution,":[92],"is":[95,107],"optimized":[96],"with":[97,111,159],"dynamics-aware":[99],"auxiliary":[100],"training":[101],"objective.":[102],"This":[103],"high-level":[104],"representation":[106],"then":[108],"seamlessly":[109],"fused":[110],"observations":[114],"form":[116],"hierarchical":[118,170],"mechanism":[120],"action":[122],"generation.":[123],"Furthermore,":[124],"maintain":[126],"architectural":[127],"consistency":[128],"and":[129,149],"minimize":[130],"GPU":[131],"memory":[132],"overhead,":[133],"also":[135],"instantiate":[136],"diffusion":[138],"backbone":[139],"itself":[140],"using":[141],"an":[142],"SSM.":[143],"Extensive":[144],"experiments":[145],"across":[146],"simulation":[147],"benchmarks":[148],"real-world":[150],"manipulation":[151],"tasks":[152],"show":[153],"DSSP":[155],"achieves":[156],"state-of-the-art":[157],"performance":[158],"significantly":[161],"smaller":[162],"model":[163],"size,":[164],"demonstrating":[165],"superior":[166],"efficiency":[167],"capturing":[173],"crucial":[174],"as":[176],"length":[179],"increases.":[180]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-05-16T00:00:00"}
