ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations — Paper

Abstract

Imitation learning has achieved impressive results in robotic manipulation, yet most existing approaches assume clean backgrounds and lack explicit mechanisms for obstacle-aware motion generation. Extending such policies to cluttered, real-world scenes with unstructured obstacles remains a key generalization challenge. We present ObstaDiff, a decomposed diffusion-policy framework with a lightweight obstacle-aware visual encoder. ObstaDiff extracts a structured target-obstacle-background representation, enabling the downstream alignment policy to generate end-effector trajectories toward a target-centered bottleneck pose while reasoning about surrounding obstacles. We evaluate ObstaDiff on 61 real-robot greenhouse trials per method (366 executions in total). ObstaDiff achieves 75.41% average task success and 8.20% average obstacle collision rate, outperforming representative imitation-learning baselines and improving generalization in cluttered agricultural scenes.

Authors 3

Jiawen Wang, Kevin Yao, Khalid Jawed

Specification

Official page: arxiv.org/abs/2609.10918
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
Arxiv announce type: cross
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
arXiv id: 2609.10918
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
Categories: cs.RO, cs.LG
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
PDF: arxiv.org/pdf/2609.10918
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
Primary category: cs.RO
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh
Published: 11 Sept 2026
Source:arXiv (Atom API + RSS)T1observed 3 h agohigh

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9

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T19

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3 h ago

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Authors: Jiawen Wang, Kevin Yao, Khalid Jawed

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Value	Valid from → to	Status	Source	Confidence	Extractor
cs.RO	11 Sept 2026 21:02 UTC → current	current	arXiv (Atom API + RSS)T1	high	deterministic

Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →

11 Sept 2026
New paperPaperObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
New paper: ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations
arxiv
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Source	Document	Type	Tier	Last observed	Snapshots
arXiv (Atom API + RSS)	rss.arxiv.org/rss/cs.LG	feed	T1· Official	1 h ago	1

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