---
publication_id: "OT-2026-000002989"
title: "Object-centric diffusion policy for efficient imitation learning"
published_at: "2026-09-15T19:16:35.669479Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002989"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1661"
  - "b25j9/1661"
  - "b25j9/1661"
  - "b25j9/16"
  - "b25j9/1664"
  - "b25j9/1664"
---

# Object-centric diffusion policy for efficient imitation learning

## Abstract

Robotic control systems that include a diffusion model configured by training on demonstration videos of tasks performed by humans, the diffusion model configured to transform a noise pattern and pose of an object manipulated in a task into a prediction of a next pose of the object in the task, and the system configured to generate an ending pose prediction for the task.