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DSD: Learning Diverse and Reusable Motor Skills via Diffusion Skill Discovery

arXiv · AI, language, vision and robotics · article · Sep 15, 2026 · UTC

Humans efficiently learn new tasks by reusing a rich repertoire of motor skills across different goals and contexts. A similar strategy can also be used to enable simulated characters to efficiently perform new tasks by leveraging reusable motor skills. To support a wide range of downstream tasks, the learned repertoire should be diverse, consisting of distinct behaviors as well as spatial and temporal variation within each behavior. A commonly used method for learning diverse skills is by maximizing the mutual information between skill latents and the states produced by a policy. The marginal

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