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The resulting velocity field must simultaneously encode scene information and generate precise trajectories, increasing learning complexity and limiting performance on tasks demanding precise temporal coordination across multiple arms. To simplify this joint learning problem, we introduce Latent Diffusion Policy (LDP), a two-stage framework performing flow matching in a deliberately shaped latent space. By absorbing scene understanding into an observation-conditioned CVAE encoder, LDP concentrates the conditional distribution of each observation. Consequently, the flow model avoids implicitly resolving scene-dependent structures; instead, it generates within a pre-concentrated distribution featuring a smoother velocity field, simplifying learning from limited demonstratio","title":"Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation","url":"https://arxiv.org/abs/2606.08657","vendor":"arxiv_cs_ai"},"summary":"arXiv:2606.08657v1 Announce Type: cross \nAbstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process. The resulting velocity field must simultaneously encode scene information and generate precise trajectories, increasing learning complexity and limiting performance on tasks demanding precise temporal coordination across multiple arms. To simplify this joint learning problem, we introduce Latent Diffusion Policy (LDP), a two-stage framework performing flow matching in a deliberately shaped latent space. By absorbing scene understanding into an observation-conditioned CVAE encoder, LDP concentrates the conditional distribution of each observation. Consequently, the flow model avoids implicitly resolving scene-dependent structures; instead, it generates within a pre-concentrated distribution featuring a smoother velocity field, simplifying learning from limited demonstratio","title":"Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation","vendor":"arxiv_cs_ai"},"confidence":{"method":"deterministic"},"decision":"POSITIVE","issued_at":"2026-06-09T04:43:45Z","notes":"Spider vendor_press (news) news.vendor_press.v1","object":{"captured_by":"crovia.spider.vendor_press","primary_source_url":"https://arxiv.org/abs/2606.08657"},"predecessors":[],"schema":"crovia.axiom.v1","signature":"ed25519:c6f84c096b69e176a594fe608a21b47a556294561d02526da4835e38b2c9b63effae8b42448756a2acf79e35d3736654fef1dee393e06d85053b553591e9b200","signer":"crovia.substrate","subject":{"observed_at":"2026-06-09T04:43:45Z","source_collector":"spider:vendor_press","target_id":"https://arxiv.org/abs/2606.08657"},"tsa":{"authority":"crovia.substrate.bootstrap","rfc3161_token":"{\"kind\":\"crovia.bootstrap.tsa\",\"source_jsonl\":\"/opt/crovia/spider/data/news/vendor_press_v1.jsonl\",\"source_seal_merkle_root\":\"spider_vendor_press_v1\",\"upgrade_path\":\"Sessione H \\u2014 OpenTimestamps weekly anchor\"}"},"zk_mode":"clear","zk_proof":null},"ledger":{"leaf_hash":"a365c00d855d3ba1ea4a50220cc92eec30b7c155828ea4625f96740b76435153","leaf_index":224310,"ledger_path":"/opt/crovia/substrate/axiom_ledger.jsonl"},"merkle_proof":{"hash_alg":"sha256","leaf_prefix":"0x00","node_prefix":"0x01","odd_leaf_rule":"duplicate_last","path":[{"sibling":"a85fff126b1b4e761d8f88ccb2f2921f8590648de00b38259e85218b273c9c87","side":"right"},{"sibling":"c7cd91ecf7e3230aae11cb2a6a6fd25393a9814980b66d6b76f49b973aa0b730","side":"left"},{"sibling":"cecd549540931ba2c2dcbe0c0e049127b8efe84c77fac68b6c95c65cbcf224b3","side":"left"},{"sibling":"5ca2caaaa3bf35656756cd371ddc6a8e166dd700b4d3a8e648431fc1e61f9575","side":"right"},{"sibling":"524ed88d3b702c6b094d98f448b664b0fc2531d9fff501b6d6b61cc5fb9f22bb","side":"left"},{"sibling":"ce11990100da0063ff078c08ce9fa7b8e7424823932fdab59b36274922fefd45","side":"left"},{"sibling":"8c9ff4557f20a07dd8bab815d109622b303ec955df35139712363b2e633da7de","side":"right"},{"sibling":"6aee4d57225362b2670992e69503217771be95795abcdc0a9d9022571196aa2b","side":"right"},{"sibling":"f6fb234a4e2f067b22329eec05b093a8b38f0411de9434d5a8eb55c2f70f1a2f","side":"right"},{"sibling":"b2df6a4bb3e928f0b447931cc688ae01d2415773a2b07cfed0b1cba689078aed","side":"right"},{"sibling":"b1c9ec856caa0fd46bb47b46f18c59ebcd295d774ca17adb3b46f05d394a6a5d","side":"left"},{"sibling":"24fdc29d461691aedb6fa920758206b5bb43851f477ef7a04c34aaed84b8971b","side":"left"},{"sibling":"036922da4e1e2c46d948f070454bfad299b7406fb00735ea9d8bd1e687f5f445","side":"right"},{"sibling":"533d82482604463aa4a281b9d8b85917b383b7c5f924b2b494039524c55e8797","side":"left"},{"sibling":"b2590791b920ca2a4ed39de126d2c0b1a10d9e7e62f572f12425f214e767b6e1","side":"left"},{"sibling":"87c6b850dfec08ac35a693d9db3a3315250a68adb1cfab9b1015f212b63b15bd","side":"right"},{"sibling":"c300cf0154c136afc09b1702a0be98f4ba5b6dc5cf57e8cc714ec1eaf4196eff","side":"left"},{"sibling":"d841ad93efda0869e5eb97678f348f03f5caab4353e05ff4bf18f47fb945b822","side":"left"}]},"schema":"crovia.axiom_proof.v1","seal":{"first_collector_run_id":"","first_receipt_hash":"","jsonl_path":"/opt/crovia/substrate/axiom_ledger.jsonl","key_id":"430895f101d38164","last_collector_run_id":"","last_receipt_hash":"","leaf_count":224761,"merkle_root":"e9f7b49b652e869ab97ffba9c5a31356b2d0e3dc5d00bb28944adf737c46b1e7","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","run_id":"hourly_json_retrofit_20260609T103805Z","schema":"crovia.seal.v1","seal_family_version":"crovia-seal-family/1","seal_kind":"substrate_batch","sealed_at":"2026-06-09T14:15:34Z","sig_algorithm":"ed25519","signature":"8ad8076fb12c8e486ae1d1559a9a7ba8e2ee996a9ad3d8ba7bcdbdbd88ab3a15bcb429707aca6d3e9d8b97e2ba755b3dcc77b1abb6601ccb829842719a6fb30d","signer_version":"1.1.0"},"trust_root":{"key_id":"430895f101d38164","public_key_hex":"cf742e26f75669dc673cb5c0786a1ae23ae8ca19c347317192ce40c28a7ff25c","signature_algorithm":"ed25519","url":"/registry/canon/TRUST_ROOT.md"},"verifier":{"spec":"/registry/canon/AXIOM_RECEIPT_v1.md","url":"/v/axm_03181eff45ac4ce734206d6caec0541395dce267705787824fef1b62883234cc"}}