Jul 2026
SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation
SegDiff, a closed-loop visuomotor policy that decomposes demonstrations into motion segments between keyposes and learns to predict the continuous trajectory from the current state to the next keypose, enabling long-horizon prediction with real-time refinement.
Hai-Dong Cao, Wenjun Cao, Quanhao Li et al.
· arXiv.org · 0 citations