mlsanityData to 14 Oct 2026

Query-Centric Diffusion Policy for Generalizable Robotic Assembly

arXiv 2509.18686 ↗First posted 23 Sep 2025cs.RO cs.LGcited by 0

On the map: Diffusion models → Diffusion and flow policies for robotics

Abstract (arXiv)

The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed in a hierarchical manner: high-level multi-part reasoning and low-level precise control. However, implementing such a hierarchical policy is challenging in practice due to the mismatch between high-level skill queries and low-level execution. To address this, we propose the Query-centric Diffusion Policy (QDP), a hierarchical framework that bridges high-level planning and low-level control by utilizing queries comprising objects, contact points, and skill information. QDP introduces a query-centric mechanism that identifies task-relevant components and uses them to guide low-level policies, leveraging point cloud observations to improve the policy's robustness. We conduct comprehensive experiments on the FurnitureBench in both simulation and real-world settings, demonstrating improved performance in skill precision and long-horizon success rate. In the challenging insertion and screwing tasks, QDP improves the skill-wise success rate by over 50% compared to baselines without structured queries.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 36 of its 45 references that are in the map. First posted on arXiv 23 Sep 2025.

Builds on

36 of 45 references.

Closest ancestors · 9

Same direction, newest first

  1. 2024AffordDP: Generalizable Diffusion Policy with Transferable Affordance4 Dec
  2. 2024Diffusion Policy Policy Optimization1 Sep
  3. 2024EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning1 Jul
  4. 20243D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations6 Mar
  5. 2024Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation6 Mar
  6. 2024Simple Hierarchical Planning with Diffusion5 Jan
  7. 2023SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution18 Dec
  8. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
  9. 2022Is Conditional Generative Modeling all you need for Decision-Making?28 Nov

Other references · 27

  1. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  2. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  3. 2024SAM 2: Segment Anything in Images and Videoscited by 2,863
  4. 2021Decision Transformer: Reinforcement Learning via Sequence Modelingcited by 1,546
  5. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  6. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  7. 2021Isaac Gym: High Performance GPU-Based Physics Simulation For Robot Learningcited by 998
  8. 2018Deep Reinforcement Learning in a Handful of Trials using Probabilistic Dynamics Modelscited by 774
  9. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 750
  10. 2024GPT-4V(ision) is a Generalist Web Agent, if Groundedcited by 563
  11. 2020robosuite: A Modular Simulation Framework and Benchmark for Robot Learningcited by 511
  12. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 315
15 more
  1. 2020Integrated Task and Motion Planningcited by 290
  2. 2024Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformerscited by 148
  3. 2023FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulationcited by 133
  4. 2019IKEA Furniture Assembly Environment for Long-Horizon Complex Manipulation Taskscited by 69
  5. 2024TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correctioncited by 59
  6. 2021Adversarial Skill Chaining for Long-Horizon Robot Manipulation via Terminal State Regularizationcited by 46
  7. 2022Iterative Residual Policy: for Goal-Conditioned Dynamic Manipulation of Deformable Objectscited by 37
  8. 2023MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulationcited by 34
  9. 2023Human-in-the-Loop Task and Motion Planning for Imitation Learningcited by 29
  10. 2023IKEA-Manual: Seeing Shape Assembly Step by Stepcited by 22
  11. 2023ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibilitycited by 18
  12. 2024Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Modelscited by 15
  13. 2024EXTRACT: Efficient Policy Learning by Extracting Transferable Robot Skills from Offline Datacited by 13
  14. 2023Rearrangement Planning for General Part Assemblycited by 12
  15. 2024Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assemblycited by 7

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  1. 2024AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometries
  2. 2024ARCH: Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly
  3. 2024Hierarchical Diffusion Policy: manipulation trajectory generation via contact guidance
  4. 2026SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy
  5. 2026Unifying Object-Centric World Models and Diffusion Policy: A Hierarchical Framework for Multi-Stage Robotic Tasks
  6. 2026Generalizable Robotic Insertion with World Models
  7. 2026SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly
  8. 2025AnyTask: an Automated Task and Data Generation Framework for Advancing Sim-to-Real Policy Learning