@article{s2diffusiongeneralizingfrominstance,
  title = {S$^2$-Diffusion: Generalizing from Instance-level to Category-level Skills in Robot Manipulation},
  author = {Quantao Yang and Michael C. Welle and Danica Kragic and Olov Andersson},
  year = {2025},
  eprint = {2502.09389},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2502.09389v2},
}