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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

Papers citing "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"

50 / 932 papers shown

Title
Diffusion Models for Robotic Manipulation: A Survey Rosa Wolf Yitian Shi Sheng Liu Rania Rayyes 127 2 0 15 Jul 2025
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation Chengbo Yuan Suraj Joshi Shaoting Zhu Hang Su Hang Zhao Yang Gao VGen 107 6 0 15 Jul 2025
XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning Prabin Kumar Rath Nakul Gopalan 87 0 0 15 Jul 2025
BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulation Zihan Lan Weixin Mao Haoyang Li Le Wang Tiancai Wang Haoqiang Fan Osamu Yoshie EgoV 137 2 0 01 Jul 2025
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections Xiaomeng Xu Yifan Hou Zeyi Liu Shuran Song 32 0 0 20 Jun 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 17 0 0 19 Jun 2025
CapsDT: Diffusion-Transformer for Capsule Robot Manipulation Xiting He Mingwu Su Xinqi Jiang Long Bai Jiewen Lai Hongliang Ren MedIm 22 0 0 19 Jun 2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation Melih Özcan Ozgur S. Oguz 16 0 0 19 Jun 2025
FlowRAM: Grounding Flow Matching Policy with Region-Aware Mamba Framework for Robotic Manipulation Sen Wang Le Wang Sanping Zhou Jingyi Tian Jiayi Li Haowen Sun Wei Tang 36 0 0 19 Jun 2025
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation Liang Heng Haoran Geng Kaifeng Zhang Pieter Abbeel Jitendra Malik 24 0 0 19 Jun 2025
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control Yuxin Chen Jianglan Wei Chenfeng Xu Boyi Li Masayoshi Tomizuka Andrea V. Bajcsy Ran Tian 17 0 0 19 Jun 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models Puhao Li Yingying Wu Ziheng Xi Wanlin Li Yuzhe Huang ... Yinghan Chen Jianan Wang Song-Chun Zhu Tengyu Liu Siyuan Huang LM&Ro 29 0 0 19 Jun 2025
Robust Instant Policy: Leveraging Student's t-Regression Model for Robust In-context Imitation Learning of Robot Manipulation Hanbit Oh Andrea M. Salcedo-Vázquez I. Ramirez-Alpizar Y. Domae 24 0 0 18 Jun 2025
Steering Your Diffusion Policy with Latent Space Reinforcement Learning Andrew Wagenmaker Mitsuhiko Nakamoto Yunchu Zhang S. Park Waleed Yagoub Anusha Nagabandi Abhishek Gupta Sergey Levine OffRL 39 0 0 18 Jun 2025
Provable Maximum Entropy Manifold Exploration via Diffusion Models Riccardo De Santi Marin Vlastelica Ya-Ping Hsieh Zebang Shen Niao He Andreas Krause DiffM 34 1 0 18 Jun 2025
Vision in Action: Learning Active Perception from Human Demonstrations Haoyu Xiong Xiaomeng Xu Jimmy Wu Yifan Hou Jeannette Bohg Shuran Song 43 0 0 18 Jun 2025
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion Jiahua Ma Yiran Qin Yixiong Li Xuanqi Liao Yulan Guo Ruimao Zhang 31 0 0 17 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 21 0 0 17 Jun 2025
Latent Action Diffusion for Cross-Embodiment Manipulation Erik Bauer Elvis Nava Robert K. Katzschmann 27 0 0 17 Jun 2025
Touch begins where vision ends: Generalizable policies for contact-rich manipulation Zifan Zhao Siddhant Haldar Jinda Cui Lerrel Pinto Raunaq M. Bhirangi OffRL 39 0 0 16 Jun 2025
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance Maximilian Du Shuran Song 34 0 0 16 Jun 2025
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics T. Tsuji Y. Kato Gokhan Solak Heng Zhang Tadej Petrič Francesco Nori Arash Ajoudani 31 0 0 16 Jun 2025
What Matters in Learning from Large-Scale Datasets for Robot Manipulation Vaibhav Saxena Matthew Bronars Nadun Ranawaka Arachchige Kuancheng Wang Woo Chul Shin Soroush Nasiriany Ajay Mandlekar Danfei Xu 34 3 0 16 Jun 2025
Scaling Algorithm Distillation for Continuous Control with Mamba Samuel Beaussant Mehdi Mounsif 30 0 0 16 Jun 2025
IKDiffuser: A Generative Inverse Kinematics Solver for Multi-arm Robots via Diffusion Model Zeyu Zhang Ziyuan Jiao 39 0 0 16 Jun 2025
Vid-CamEdit: Video Camera Trajectory Editing with Generative Rendering from Estimated Geometry Junyoung Seo Jisang Han Jaewoo Jung Siyoon Jin Joungbin Lee ... Takashi Shibuya Donghoon Ahn Shoukang Hu Seungryong Kim Yuki Mitsufuji VGen 36 0 0 16 Jun 2025
Overcoming Overfitting in Reinforcement Learning via Gaussian Process Diffusion Policy Amornyos Horprasert Esa Apriaskar Xingyu Liu Lanlan Su Lyudmila S. Mihaylova 32 0 0 16 Jun 2025
Flow-Based Policy for Online Reinforcement Learning Lei Lv Y. Li Yu-Juan Luo F. Sun Tao Kong Jiafeng Xu Xiao Ma 28 0 0 15 Jun 2025
Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence Pranay Gupta H. Admoni Andrea Bajcsy 24 0 0 15 Jun 2025
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations Zilin Si José Enrique Chen M. Emre Karagozler Antonia Bronars Jonathan Hutchinson ... M. Martins Konstantinos Bousmalis N. Heess F. Nori Maria Bauza Villalonga 33 0 0 13 Jun 2025
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion Shunpeng Yang Zhen Fu Zhefeng Cao Guo Junde Patrick M. Wensing Wei Zhang Hua-zeng Chen 35 0 0 13 Jun 2025
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity Elvis Nava Victoriano Montesinos Erik Bauer Benedek Forrai Jonas Pai ... Stephan-Daniel Gravert Philipp Wand Stephan Polinski Benjamin Grewe Robert K. Katzschmann 34 0 0 13 Jun 2025
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies Nadun Ranawaka Arachchige Zhenyang Chen Wonsuhk Jung Woo Chul Shin Rohan Bansal ... Yu Hang He Yingyang Celine Lin Benjamin Joffe Shreyas Kousik Danfei Xu 69 0 0 13 Jun 2025
Demonstration Sidetracks: Categorizing Systematic Non-Optimality in Human Demonstrations Shijie Fang Hang Yu Qidi Fang Reuben M. Aronson E. Short 19 0 0 12 Jun 2025
Domain-Constrained Diffusion Models to Synthesize Tabular Data: A Case Study in Power Systems Milad Hoseinpour Vladimir Dvorkin DiffM MedIm 24 0 0 12 Jun 2025
RationalVLA: A Rational Vision-Language-Action Model with Dual System Wenxuan Song Jiayi Chen Wenxue Li Xu He Han Zhao ... Xinhu Zheng Yanfeng Guo Hesheng Wang Yunhui Liu Haoang Li LM&Ro 178 1 0 12 Jun 2025
From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models Irving Fang Juexiao Zhang Shengbang Tong Chen Feng LM&Ro 71 1 0 11 Jun 2025
Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Ye Niu Sanping Zhou Yizhe Li Ye Den Le Wang 105 0 0 11 Jun 2025
SAFE: Multitask Failure Detection for Vision-Language-Action Models Qiao Gu Yuanliang Ju Shengxiang Sun Igor Gilitschenski Haruki Nishimura Masha Itkina Florian Shkurti 55 0 0 11 Jun 2025
Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation Wenbo Zhang Tianrun Hu Yanyuan Qiao Hanbo Zhang Yuchu Qin Y. Li Jiajun Liu Tao Kong Lingqiao Liu Xiao Ma LRM 75 0 0 11 Jun 2025
eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures Venkatesh Pattabiraman Zizhou Huang Daniele Panozzo Denis Zorin Lerrel Pinto Raunaq M. Bhirangi 74 0 0 11 Jun 2025
TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization Zengjue Chen Runliang Niu He Kong Qi Wang 68 0 0 10 Jun 2025
ABC-FHE : A Resource-Efficient Accelerator Enabling Bootstrappable Parameters for Client-Side Fully Homomorphic Encryption Sungwoong Yune Hyojeong Lee Adiwena Putra Hyunjun Cho Cuong Duong Manh Jaeho Jeon Joo-Young Kim 24 0 0 10 Jun 2025
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models Peiyan Li Yixiang Chen Hongtao Wu Xiao Ma Xiangnan Wu Y. Huang Liang Wang Tao Kong Tieniu Tan 29 0 0 09 Jun 2025
Accelerating Diffusion Models in Offline RL via Reward-Aware Consistency Trajectory Distillation Xintong Duan Yutong He Fahim Tajwar Ruslan Salakhutdinov J. Zico Kolter J. Schneider OffRL 23 0 0 09 Jun 2025
Real-Time Execution of Action Chunking Flow Policies Kevin Black Manuel Y. Galliker Sergey Levine OffRL 33 0 0 09 Jun 2025
Generative Modeling of Weights: Generalization or Memorization? Boya Zeng Yida Yin Zhiqiu Xu Zhuang Liu DiffM 28 0 0 09 Jun 2025
Diffuse Everything: Multimodal Diffusion Models on Arbitrary State Spaces Kevin Rojas Yuchen Zhu Sichen Zhu Felix X.-F. Ye Molei Tao DiffM 25 0 0 09 Jun 2025
Multi-Step Guided Diffusion for Image Restoration on Edge Devices: Toward Lightweight Perception in Embodied AI Aditya Chakravarty DiffM 24 0 0 08 Jun 2025
Generalized Trajectory Scoring for End-to-end Multimodal Planning Zhenxin Li Wenhao Yao Zi Wang Xinglong Sun Joshua Chen Nadine Chang Maying Shen Zuxuan Wu Shiyi Lan Jose M. Alvarez 24 0 0 07 Jun 2025