# Learning to Be Different: A Component Specialization Method for Compositional Diffusion Policies

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/lpsn1hdov22r073z2nql9r06k
- Original: https://arxiv.org/abs/2610.27194

## Summary

A study proposes a plug-and-play auxiliary loss called score-decorrelation to address the problem that diffusion policies with linearly composed scores tend to have convergent component predictions that are hard to interpret in multitask robot learning. The loss encourages specialization by penalizing overlap between component noise predictions, with almost no architectural changes and very low computational overhead. Experiments on multiple benchmarks show that the method consistently reduces duplicate counting between components, improves task decomposition, and produces behaviorally meaningful specialization without compromising multitask performance.