Spectrally Routed Diffusion Policy for Multi-Task Robotic Manipulation
Overview
This research presents SR-DP (Spectrally Routed Diffusion Policy), a method designed to improve multi-task robotic manipulation by addressing limitations in convolutional encoders and gradient interference during joint training. The approach uses a frozen VGGT encoder with spatial-compression adapters and decomposes linear layers via SVD into orthogonal experts adapted through spectral routing. Evaluated on six RoboTwin tasks, SR-DP achieves an average success rate of 68.4%, outperforming multi-task VO-DP by 21.8 points and the strongest per-task baseline by 3.8 points. On four real-world bimanual tasks, Stage 2 reaches a 43.0% average success rate, improving over Stage 1 by 19.0 points.
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Reported quantity · Reported success rate: 68.4 percent · reported trials
“visual condition for tasks that share a workspace. We first train the denoiser as a standard diffusion policy, then decompose selected linear layers by SVD into a frozen basis of orthogonal rank-one experts, adapted through spectral routing and Householder input rotations. On six RoboTwin tasks, SR-DP averages a 68.4% success rate, surpassing multi-task VO-DP by 21.8 points and the strongest per-task baseline by 3.8”
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- arXiv Robotics — research abstractsSignalSpectrally Routed Diffusion Policy for Multi-Task Robotic Manipulation
This research presents SR-DP (Spectrally Routed Diffusion Policy), a method designed to improve multi-task robotic manipulation by addressing limitations in convolutional encoders and gradient interference during joint training. The approach uses a frozen VGGT encoder with spatial-compression adapters and decomposes linear layers via SVD into orthogonal experts adapted through spectral routing. Evaluated on six RoboTwin tasks, SR-DP achieves an average success rate of 68.4%, outperforming multi-task VO-DP by 21.8 points and the strongest per-task baseline by 3.8 points. On four real-world bimanual tasks, Stage 2 reaches a 43.0% average success rate, improving over Stage 1 by 19.0 points.
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