DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation
cs.RO
Submitted: 2026-09-29
Updated: 2026-09-29
Code: https://github.com/automation-robotics-machines/drom
License: http://creativecommons.org/licenses/by/4.0/
The gist: Learning robust manipulation policies for diverse, long-horizon tasks from limited demonstrations remains a fundamental challenge in robotics.
Terminology
Abstract
Learning robust manipulation policies for diverse, long-horizon tasks from limited demonstrations remains a fundamental challenge in robotics. We present DROM, a language-guided diffusion framework that enables robots to learn, represent, and compose multiple manipulation skills within a single generative policy. DROM leverages Dynamic Movement Primitives (DMPs) to augment a small set of expert demonstrations into expressive multi-skill datasets, substantially reducing data collection while improving spatial generalization beyond the demonstrated workspace. Building upon Motion Planning Diffusion (MPD), we extend the diffusion architecture to support language-conditioned multi-skill trajectory generation through cross-attention, allowing a single model to generate skill-consistent motions for a diverse set of manipulation primitives, including orientation-sensitive behaviors that are difficult to design using conventional motion planning or hard-coded controllers. For long-horizon manipulation, a large language model decomposes high-level operator requests into executable sequences of skills, enabling natural language interaction and autonomous task execution. We validate DROM on a Franka Emika Panda robot, a FANUC CRX25ia robot, and in MuJoCo simulation across a wide range of manipulation tasks. Experimental results demonstrate that DROM outperforms Motion Planning Diffusion and Behavior Cloning baselines, achieves robust multi-skill generalization, and composes learned skills to reliably execute long-horizon manipulation tasks from natural language instructions using only a limited number of human demonstrations. Datasets, simulation environments, and more at https://github.com/automation-robotics-machines/drom.
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