@article{learningdiffusionpolicyfromprimitiveskil,
  title = {Learning Diffusion Policy from Primitive Skills for Robot Manipulation},
  author = {Zhihao Gu and Ming Yang and Difan Zou and Dong Xu},
  year = {2026},
  eprint = {2601.01948},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2601.01948},
}