EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulation
On the map: Diffusion models → Diffusion and flow policies for robotics
Abstract (arXiv)
Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion models within a visuomotor policy framework that merges visual and textual inputs to generate precise robotic trajectories. By employing reference demonstrations during training, the model learns to execute manipulation tasks specified through textual commands within the robot's immediate environment. The proposed research aims to extend an existing model by leveraging improved embeddings, and adapting techniques from diffusion models for image generation. We evaluate our methods on the CALVIN dataset, proving enhanced performance on various manipulation tasks and an increased long-horizon success rate when multiple tasks are executed in sequence. Our approach reinforces the usefulness of diffusion models and contributes towards general multitask manipulation.
Key facts. No citing papers in the map yet (data through 7 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 18 of its 21 references that are in the map. First posted on arXiv 17 Nov 2025.
Builds on
18 of 21 references.
Closest ancestors · 3
Same direction, newest first
- 2024Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation6 Mar
- 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representations16 Feb
- 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
Other references · 15
- 2021Learning Transferable Visual Models From Natural Language Supervisioncited by 33,456
- 2020Denoising Diffusion Probabilistic Modelscited by 20,851
- 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
- 2020Denoising Diffusion Implicit Modelscited by 9,655
- 2019Sentence-BERT: Sentence Embeddings using Siamese BERT-Networkscited by 9,049
- 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,286
- 2020MPNet: Masked and Permuted Pre-training for Language Understandingcited by 973
- 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
- 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 564
- 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
- 2022CLIP-Fields: Weakly Supervised Semantic Fields for Robotic Memorycited by 164
- 2024GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal-Conditioned Policycited by 39
3 more
- 2024PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Taskscited by 37
- 2024RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planningcited by 4
- 2024A Comparison of Prompt Engineering Techniques for Task Planning and Execution in Service Roboticscited by 2
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- 2024DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting
- 2026DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation
- 2024RoLD: Robot Latent Diffusion for Multi-task Policy Modeling
- 2026Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
- 2024GravMAD: Grounded Spatial Value Maps Guided Action Diffusion for Generalized 3D Manipulation
- 20253D Flow Diffusion Policy: Visuomotor Policy Learning via Generating Flow in 3D Space
- 2024DNAct: Diffusion Guided Multi-Task 3D Policy Learning
- 2025CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity