Language Control Diffusion: Efficiently Scaling through Space, Time, and Tasks

1UC Santa Barbara, 2UT Austin 3Harvard University

lcd scales diffusion models for long horizon and language conditioned planning.


Training generalist agents is difficult across several axes, requiring us to deal with high dimensional inputs (space), long horizons (time), and multiple and new tasks. Recent advances with architectures have allowed for improved scaling along one or two of these dimensions, but are still prohibitive computationally. In this paper, we propose to address all three axes by leveraging Language to Control Diffusion models as a hierarchical planner conditioned on language lcd.

We effectively and efficiently scale diffusion models for planning in extended temporal, state, and task dimensions to tackle long horizon control problems conditioned on natural language instructions. We compare LCD with other state-of-the-art models on the CALVIN language robotics benchmark and find that LCD outperforms other SOTA methods in multi task success rates while dramatically improving computational efficiency with a single task success rate (SR) of 88.7% against the previous best of 82.7%.

We show that LCD can successfully leverage the unique strength of diffusion models to produce coherent long range plans while addressing their weakness at generating low-level details and contro

Efficient Training & Inference


Related Work

This project is built on some exceptional prior work.

Planning with Diffusion for Flexible Behavior Synthesis introduces the base diffusion-based planning model that we adopt as the high-level policy.

CALVIN provides the dataset and benchmark for evaluating the performance of our agent.

Finally, HULC offers a strong baseline policy that we use for comparison and as our low-level controller.,

Get Started

$ git clone 
$ make install && conda activate lcd
$ lcd                                                                                             
 Usage: lcd [OPTIONS] COMMAND [ARGS]...                                                      
╭─ Options ─────────────────────────────────────────────────────────────────────────────────╮
│ --install-completion          Install completion for the current shell.                   │
│ --show-completion             Show completion for the current shell, to copy it or        │
│                               customize the installation.                                 │
│ --help                        Show this message and exit.                                 │
╭─ Commands ────────────────────────────────────────────────────────────────────────────────╮
│ rollout        Rollout in the environment for evaluation or dataset collection            │
│ train_hulc     Train the original hulc model                                              │
│ train_lcd      Train the original hulc model                                              │


  author    = {Zhang, Edwin and Lu, Yujie and Wang, William and Zhang, Amy},
  title     = {Language Control Diffusion: Efficiently Scaling through Space, Time, and Tasks},
  journal   = {arXiv},
  year      = {2023},