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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
STEER: Flexible Robotic Manipulation via Dense Language Grounding Laura Smith A. Irpan Montserrat Gonzalez Arenas Sean Kirmani Dmitry Kalashnikov Dhruv Shah Ted Xiao LLMSV 94 2 0 05 Nov 2024
Learning Few-Shot Object Placement with Intra-Category Transfer Adrian Rofer Russell Buchanan Max Argus S. Vijayakumar Abhinav Valada 104 0 0 05 Nov 2024
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning George Jiayuan Gao Tianyu Li Nadia Figueroa 141 0 0 05 Nov 2024
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration J. Grannen Siddharth Karamcheti Suvir Mirchandani Percy Liang Dorsa Sadigh 92 2 0 04 Nov 2024
So You Think You Can Scale Up Autonomous Robot Data Collection? Suvir Mirchandani Suneel Belkhale Joey Hejna Evelyn Choi Md Sazzad Islam Dorsa Sadigh OffRL 101 5 0 04 Nov 2024
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control Oleg Kaidanov Firas Al-Hafez Yusuf Suvari Boris Belousov Jan Peters 88 0 0 02 Nov 2024
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation Haoran Lu Ruihai Wu Yitong Li Sijie Li Ziyu Zhu Chuanruo Ning Yan Shen Longzan Luo Yuanpei Chen Hao Dong AI4CE 145 6 0 02 Nov 2024
CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision Gi-Cheon Kang Junghyun Kim Kyuhwan Shim Jun Ki Lee Byoung-Tak Zhang LM&Ro 337 2 1 01 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 140 10 0 01 Nov 2024
Sparsh: Self-supervised touch representations for vision-based tactile sensing Carolina Higuera Akash Sharma Chaithanya Krishna Bodduluri Taosha Fan Patrick E. Lancaster ... Michael Kaess Byron Boots Mike Lambeta Tingfan Wu Mustafa Mukadam 87 23 0 31 Oct 2024
Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling Davide Celestini Daniele Gammelli T. Guffanti Simone DÁmico Elisa Capello Marco Pavone 111 9 0 31 Oct 2024
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Zhenyu Jiang Yuqi Xie K. Lin Zhenjia Xu Weikang Wan Ajay Mandlekar Linxi Fan Yuke Zhu 124 33 0 31 Oct 2024
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards Irmak Güzey Yinlong Dai Georgy Savva Raunaq M. Bhirangi Lerrel Pinto 99 11 0 30 Oct 2024
ReferEverything: Towards Segmenting Everything We Can Speak of in Videos Anurag Bagchi Zhipeng Bao Yu-Xiong Wang P. Tokmakov Martial Hebert VOS 73 2 0 30 Oct 2024
Denoising Diffusion Planner: Learning Complex Paths from Low-Quality Demonstrations Michiel Nikken N. Botteghi Wesley Roozing Federico Califano DiffM 125 0 0 28 Oct 2024
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation Zhendong Wang Zhiyu Li Ajay Mandlekar Zhenjia Xu Jiaojiao Fan ... Yuke Zhu Yogesh Balaji Mingyuan Zhou Xuan Li Yu Zeng 112 18 0 28 Oct 2024
VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions Guanyan Chen Ming Wang Te Cui Yao Mu Haoyang Lu ... Mengxiao Hu Haizhou Li Yuchen Li Yi Yang Yufeng Yue VLM 128 4 0 28 Oct 2024
Hamiltonian Score Matching and Generative Flows Peter Holderrieth Yilun Xu Tommi Jaakkola 59 0 0 27 Oct 2024
GHIL-Glue: Hierarchical Control with Filtered Subgoal Images Kyle Hatch Ashwin Balakrishna Oier Mees Suraj Nair Seohong Park ... Masha Itkina Benjamin Eysenbach Sergey Levine Thomas Kollar Benjamin Burchfiel 121 4 0 26 Oct 2024
OGBench: Benchmarking Offline Goal-Conditioned RL Seohong Park Kevin Frans Benjamin Eysenbach Sergey Levine OffRL 154 29 0 26 Oct 2024
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 118 5 0 25 Oct 2024
Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models Abdullah Mustafa Ryo Hanai Ixchel Ramirez Floris Erich Ryoichi Nakajo Y. Domae Tetsuya Ogata SSL 94 1 0 25 Oct 2024
Non-rigid Relative Placement through 3D Dense Diffusion Eric Cai Octavian A. Donca Ben Eisner David Held 60 0 0 25 Oct 2024
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation Malek Aburub C. C. Beltran-Hernandez Tatsuya Kamijo Masashi Hamaya 72 5 0 25 Oct 2024
Self-Improving Autonomous Underwater Manipulation Ruoshi Liu Huy Ha Mengxue Hou Shuran Song Carl Vondrick 83 1 0 24 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 120 14 0 24 Oct 2024
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection Michael Hagenow Dimosthenis Kontogiorgos Yanwei Wang Julie Shah 122 2 0 24 Oct 2024
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation Zihan Zhou Animesh Garg Dieter Fox Caelan Reed Garrett Ajay Mandlekar 97 4 0 23 Oct 2024
X-MOBILITY: End-To-End Generalizable Navigation via World Modeling Wei Liu Huihua Zhao Chenran Li Joydeep Biswas Billy Okal Pulkit Goyal Yan Chang Soha Pouya 73 4 0 23 Oct 2024
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins Venkatesh Pattabiraman Yifeng Cao Siddhant Haldar Lerrel Pinto Raunaq M. Bhirangi 78 9 0 22 Oct 2024
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning Huang Huang Balakumar Sundaralingam Arsalan Mousavian Adithyavairavan Murali Ken Goldberg Dieter Fox DiffM 95 6 0 22 Oct 2024
DARE: Diffusion Policy for Autonomous Robot Exploration Yuhong Cao Jeric Lew Jingsong Liang Jin Cheng Guillaume Sartoretti 56 2 0 22 Oct 2024
Generative AI Agents in Autonomous Machines: A Safety Perspective Jason J. Jabbour Vijay Janapa Reddi AI4CE 124 4 0 20 Oct 2024
CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation Shangning Xia Hongjie Fang Hao-Shu Fang Cewu Lu CML 94 5 0 19 Oct 2024
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks Ryan Diaz Adam Imdieke Vivek Veeriah Karthik Desingh 85 0 0 19 Oct 2024
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards Lukas Brunke Yanni Zhang Ralf Romer Jack Naimer Nikola Staykov Siqi Zhou Angela P. Schoellig 122 5 0 19 Oct 2024
Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation Sung-Wook Lee Yen-Ling Kuo Yen-Ling Kuo 131 4 0 18 Oct 2024
Beyond Autoregression: Discrete Diffusion for Complex Reasoning and Planning Jiacheng Ye Jiahui Gao Shansan Gong Lin Zheng Xin Jiang Zhiyu Li Dianbo Sui DiffM LRM 190 25 0 18 Oct 2024
Vision-Language-Action Model and Diffusion Policy Switching Enables Dexterous Control of an Anthropomorphic Hand Cheng Pan Kai Junge Josie Hughes 54 6 0 17 Oct 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 80 6 0 17 Oct 2024
Just Add Force for Contact-Rich Robot Policies William Xie Stefan Caldararu N. Correll OffRL 53 0 0 17 Oct 2024
Reward-free World Models for Online Imitation Learning Shangzhe Li Zhiao Huang H. Su OffRL 223 1 0 17 Oct 2024
Diffusing States and Matching Scores: A New Framework for Imitation Learning Runzhe Wu Yiding Chen Gokul Swamy Kianté Brantley Wen Sun DiffM 155 5 0 17 Oct 2024
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation Shivam Vats Devesh K. Jha Maxim Likhachev Oliver Kroemer Diego Romeres OffRL 78 0 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 97 4 0 17 Oct 2024
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance Mitsuhiko Nakamoto Oier Mees Aviral Kumar Sergey Levine OffRL 173 19 0 17 Oct 2024
Latent Weight Diffusion: Generating reactive policies instead of trajectories Shashank Hegde Satyajeet Das G. Salhotra Gaurav Sukhatme 92 0 0 17 Oct 2024
Imagine2Servo: Intelligent Visual Servoing with Diffusion-Driven Goal Generation for Robotic Tasks Pranjali Pathre Gunjan Gupta M. N. Qureshi Mandyam Brunda Samarth Brahmbhatt K. M. Krishna VGen 55 0 0 16 Oct 2024
Off-dynamics Conditional Diffusion Planners Wen Zheng Terence Ng Jianda Chen Tianwei Zhang DiffM OffRL 140 0 0 16 Oct 2024
The State of Robot Motion Generation Kostas E. Bekris Joe H. Doerr Patrick Meng Sumanth Tangirala 3DV 96 3 0 16 Oct 2024