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arXiv · 2509.18686

Query-Centric Diffusion Policy for Generalizable Robotic Assembly

Ziyi Xu·Haohong Lin·Shiqi Liu·Ding Zhao
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Abstract

The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed in a hierarchical manner: high-level multi-part reasoning and low-level precise control. However, implementing such a hierarchical policy is challenging in practice due to the mismatch between high-level skill queries and low-level execution. To address this, we propose the Query-centric Diffusion Policy (QDP), a hierarchical framework that bridges high-level planning and low-level control by utilizing queries comprising objects, contact points, and skill information. QDP introduces a query-centric mechanism that identifies task-relevant components and uses them to guide low-level policies, leveraging point cloud observations to improve the policy's robustness. We conduct comprehensive experiments on the FurnitureBench in both simulation and real-world settings, demonstrating improved performance in skill precision and long-horizon success rate. In the challenging insertion and screwing tasks, QDP improves the skill-wise success rate by over 50% compared to baselines without structured queries.

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Ziyi Xu, Haohong Lin, Shiqi Liu, Ding Zhao. 2025-09-23. Query-Centric Diffusion Policy for Generalizable Robotic Assembly. https://arxiv.org/abs/2509.18686

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