Title
Diffusion Models for Robotic Manipulation: A Survey Rosa Wolf Yitian Shi Sheng Liu Rania Rayyes 127 2 0 01 Jul 2025
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity Guang Yin Yitong Li Yixuan Wang D. Mcconachie Paarth Shah Kunimatsu Hashimoto Huan Zhang Katherine Liu Yunzhu Li LM&Ro 10 0 0 19 Jun 2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes Zeyuan Chen Qiyang Yan Yuanpei Chen Tianhao Wu Jiyao Zhang Zihan Ding Jinzhou Li Yaodong Yang Hao Dong 15 0 0 17 Jun 2025
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion Jiahua Ma Yiran Qin Yixiong Li Xuanqi Liao Yulan Guo Ruimao Zhang 17 0 0 17 Jun 2025
Overcoming Overfitting in Reinforcement Learning via Gaussian Process Diffusion Policy Amornyos Horprasert Esa Apriaskar Xingyu Liu Lanlan Su Lyudmila S. Mihaylova 24 0 0 16 Jun 2025
Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Ye Niu Sanping Zhou Yizhe Li Ye Den Le Wang 101 0 0 11 Jun 2025
UniConFlow: A Unified Constrained Generalization Framework for Certified Motion Planning with Flow Matching Models Zewen Yang X. Dai Dian Yu Qianru Li Yu Li Valentin Le Mesle 64 0 0 03 Jun 2025
Position: All Current Generative Fidelity and Diversity Metrics are Flawed Ossi Räisä B. V. Breugel M. Schaar EGVM 33 0 0 28 May 2025
Learning Generalizable Robot Policy with Human Demonstration Video as a Prompt Xiang Zhu Yichen Liu Hezhong Li Jianyu Chen 107 0 0 27 May 2025
Robust Planning for Autonomous Driving via Mixed Adversarial Diffusion Predictions Albert Zhao Stefano Soatto DiffM 138 0 0 18 May 2025
Learning Diverse Natural Behaviors for Enhancing the Agility of Quadrupedal Robots Huiqiao Fu Haoyu Dong Wentao Xu Zhehao Zhou Guizhou Deng Kaiqiang Tang D. Dong Chunlin Chen 61 0 0 15 May 2025
Fine-tuning Diffusion Policies with Backpropagation Through Diffusion Timesteps Ningyuan Yang Jiaxuan Gao Feng Gao Yi Wu Chao Yu 152 0 0 15 May 2025
Improving Trajectory Stitching with Flow Models Reece O'Mahoney Wanming Yu Ioannis Havoutis 105 0 0 12 May 2025
Wasserstein Convergence of Score-based Generative Models under Semiconvexity and Discontinuous Gradients Stefano Bruno Sotirios Sabanis DiffM 111 1 0 06 May 2025
SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Florian Vahl Jörn Griepenburg Jan Gutsche Jasper Güldenstein Jianwei Zhang VGen 104 0 0 29 Apr 2025
A0: An Affordance-Aware Hierarchical Model for General Robotic Manipulation Rongtao Xu Junxuan Zhang Minghao Guo Youpeng Wen H. Yang ... Liqiong Wang Yuxuan Kuang Meng Cao Feng Zheng Xiaodan Liang 146 4 0 17 Apr 2025
Safe Flow Matching: Robot Motion Planning with Control Barrier Functions X. Dai Dian Yu Shanshan Zhang Zewen Yang Hamid Sadeghian Sami Haddadin Sandra Hirche 92 1 0 11 Apr 2025
Quantization-Free Autoregressive Action Transformer Ziyad Sheebaelhamd Michael Tschannen Michael Muehlebach Claire Vernade 97 1 0 18 Mar 2025
HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model Jiaming Liu Hao Chen Pengju An Zhuoyang Liu Renrui Zhang ... Chengkai Hou Mengdi Zhao KC alex Zhou Pheng-Ann Heng Shanghang Zhang 187 20 0 13 Mar 2025
Generative Trajectory Stitching through Diffusion Composition Yunhao Luo Utkarsh Aashu Mishra Yilun Du Danfei Xu 453 7 0 07 Mar 2025
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning Xi Ye Rui Heng Yang Jun Jin Yiming Li Amir Rasouli 73 0 0 06 Mar 2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models Zhanpeng He Yifeng Cao M. Ciocarlie 302 1 0 26 Feb 2025
X-IL: Exploring the Design Space of Imitation Learning Policies Xiaogang Jia Atalay Donat Xi Huang Xuan Zhao Denis Blessing ... Han A. Wang Hanyi Zhang Qian Wang Rudolf Lioutikov Gerhard Neumann 153 1 0 20 Feb 2025
Diffusion-Based Imitation Learning for Social Pose Generation Antonio Lech Martin-Ozimek Isuru Jayarathne Su Larb Mon Jouh Yeong Chew DiffM 62 0 0 18 Jan 2025
MADiff: Offline Multi-agent Learning with Diffusion Models Zhengbang Zhu Minghuan Liu Liyuan Mao Bingyi Kang Minkai Xu Yong Yu Stefano Ermon Weinan Zhang DiffM OffRL 187 40 0 03 Jan 2025
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li Wen Hui Leng Yiming Fang Ben Eisner David Held AI4CE 138 1 0 31 Dec 2024
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu Chengkai Hou Jiaming Liu Zhengping Che Xiaozhu Ju ... Zhenyu Wang Pengju An Siyuan Qian Shanghang Zhang Jian Tang LM&Ro 242 24 0 18 Dec 2024
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 182 4 0 03 Dec 2024
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation Huy Le Miroslav Gabriel Tai Hoang Gerhard Neumann Ngo Anh Vien 181 1 0 22 Nov 2024
LayerDAG: A Layerwise Autoregressive Diffusion Model for Directed Acyclic Graph Generation Mufei Li Viraj Shitole Eli Chien Changhai Man Zhaodong Wang Srinivas Sridharan Ying Zhang Tushar Krishna P. Li 87 2 0 04 Nov 2024
Diffusing States and Matching Scores: A New Framework for Imitation Learning Runzhe Wu Yiding Chen Gokul Swamy Kianté Brantley Wen Sun DiffM 149 5 0 17 Oct 2024
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 90 4 0 17 Oct 2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation Songming Liu Lingxuan Wu Bangguo Li Hengkai Tan Huayu Chen Zhengyi Wang Ke Xu Hang Su Jun Zhu 140 126 0 10 Oct 2024
Understanding and Imitating Human-Robot Motion with Restricted Visual Fields Maulik Bhatt HongHao Zhen Monroe Kennedy III Negar Mehr 84 0 0 07 Oct 2024
Diffusion Model Predictive Control Guangyao Zhou Sivaramakrishnan Swaminathan Rajkumar Vasudeva Raju J. S. Guntupalli Wolfgang Lehrach Joseph Ortiz Antoine Dedieu Miguel Lázaro-Gredilla Kevin P. Murphy 115 12 0 07 Oct 2024
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner Chenyou Fan Chenjia Bai Zhao Shan Haoran He Yang Zhang Zhen Wang 100 3 0 30 Sep 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 184 8 0 27 Sep 2024
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation Yansong Wu Zongxie Chen Fan Wu L. Chen Liding Zhang Zhenshan Bing Abdalla Swikir Sami Haddadin Sami Haddadin 144 12 0 17 Sep 2024
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation Guanxing Lu Zifeng Gao Tianxing Chen Wen-Dao Dai Ziwei Wang Yansong Tang Yansong Tang DiffM 176 20 0 03 Jun 2024
Diffusion Policies for Risk-Averse Behavior Modeling in Offline Reinforcement Learning Xiaocong Chen Siyu Wang Tong Yu Lina Yao OffRL 68 1 0 26 Mar 2024
Diffusion Model for Data-Driven Black-Box Optimization Zihao Li Hui Yuan Kaixuan Huang Chengzhuo Ni Yinyu Ye Minshuo Chen Mengdi Wang DiffM 107 13 0 20 Mar 2024
DDM-Lag : A Diffusion-based Decision-making Model for Autonomous Vehicles with Lagrangian Safety Enhancement Jiaqi Liu Peng Hang Xiaocong Zhao Jianqiang Wang Jian Sun 100 11 0 08 Jan 2024
Visual Encoders for Data-Efficient Imitation Learning in Modern Video Games Lukas Schäfer Logan Jones Anssi Kanervisto Yuhan Cao Tabish Rashid Raluca Georgescu David Bignell Siddhartha Sen Andrea Trevino Gavito Sam Devlin 174 3 0 04 Dec 2023
Boosting Continuous Control with Consistency Policy Yuhui Chen Haoran Li Dongbin Zhao OffRL 91 27 0 10 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 88 9 0 09 Oct 2023
On the Design Fundamentals of Diffusion Models: A Survey Ziyi Chang George Alex Koulieris Hyung Jin Chang Hubert P. H. Shum DiffM 183 56 0 07 Jun 2023
Towards Consistent Stochastic Human Motion Prediction via Motion Diffusion Jiarui Sun Girish Chowdhary DiffM 94 8 0 21 May 2023
IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policies Philippe Hansen-Estruch Ilya Kostrikov Michael Janner J. Kuba Sergey Levine OffRL 121 157 0 20 Apr 2023
Choose Your Weapon: Survival Strategies for Depressed AI Academics Julian Togelius Georgios N. Yannakakis 71 17 0 31 Mar 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 352 1,247 0 07 Mar 2023