MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Reference
Behavior-cloned visuomotor policies can remain accurate near their training distribution yet fail when object position and camera viewpoint change together. A successful reference trajectory contains the geometry needed to transfer the same interaction, but the policy must align that geometry with the current scene and remain sensitive to it during denoising. To address these challenges, we present MemCorr-DP, a diffusion policy that lifts frozen RoMa v2 matches into explicit 3D relations between the current scene and the reference trajectory. A counterfactual paired objective assigns opposite behaviors the same physical state and noisy action while retaining reference-specific denoising ...
| Authors | Tan Su, Haoxiang Yang, Ruxin Wang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 6 September 2026 |
| Last updated at source | 6 September 2026 |
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