Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
Spatially Conditioned Diffusion Policy (SCDP) enables precise manipulation using only a single camera by treating end-effector trajectories as visual attention anchors. It combines a multi-scale image encoder with a spatial conditioning module that samples features along these trajectories during the diffusion process. This approach allows the policy to focus on task-relevant regions, achieving performance comparable to multi-camera setups.