Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

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Title
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real Jiangran Lyu Yuxing Chen Tao Du Feng Zhu Huiquan Liu Yizhou Wang He Wang 41 7 0 21 Sep 2024
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion Bishoy Gerges Barbara Bazzana Nicolò Botteghi Youssef Aboudorra Antonio Franchi DiffM 65 1 0 20 Sep 2024
TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation Junjie Wen Bo Li Jinming Li Minjie Zhu Kun Wu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang LM&Ro 74 50 0 19 Sep 2024
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control Zichen Jeff Cui Hengkai Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto VGen 36 10 0 18 Sep 2024
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets Jikai Ye Wanze Li Shiraz Khan Gregory Chirikjian DiffM 25 0 0 18 Sep 2024
DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models Avirup Das Rishabh Dev Yadav Sihao Sun Mingfei Sun Samuel Kaski Wei Pan 21 2 0 17 Sep 2024
SDP: Spiking Diffusion Policy for Robotic Manipulation with Learnable Channel-Wise Membrane Thresholds Zhixing Hou Maoxu Gao Hang Yu Mengyu Yang Chio-in Ieong 45 1 0 17 Sep 2024
3DFacePolicy: Speech-Driven 3D Facial Animation with Diffusion Policy Xuanmeng Sha Liyun Zhang Tomohiro Mashita Yuki Uranishi VGen 27 0 0 17 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 69 10 0 17 Sep 2024
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting M. N. Qureshi Sparsh Garg Francisco Yandún David Held George Kantor Abhisesh Silwal 3DGS 42 15 0 16 Sep 2024
Embodiment-Agnostic Action Planning via Object-Part Scene Flow Weiliang Tang Jia-Hui Pan Wei Zhan Jianshu Zhou Huaxiu Yao Yun-Hui Liu Masayoshi Tomizuka Mingyu Ding Chi-Wing Fu 63 0 0 16 Sep 2024
RPC: A Modular Framework for Robot Planning, Control, and Deployment S. Bang Carlos Gonzalez Gabriel Moore Dong Ho Kang Mingyo Seo Luis Sentis 27 0 0 16 Sep 2024
Precise Pick-and-Place using Score-Based Diffusion Networks Shih-Wei Guo Tsu-Ching Hsiao Yu-Lun Liu Chun-Yi Lee DiffM 39 1 0 15 Sep 2024
xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editing Haoyi Niu Qimao Chen Tenglong Liu Jianxiong Li Guyue Zhou Yi Zhang Jianming Hu Xianyuan Zhan 44 0 0 13 Sep 2024
Hand-Object Interaction Pretraining from Videos Himanshu Gaurav Singh Antonio Loquercio Carmelo Sferrazza Jane Wu Haozhi Qi Pieter Abbeel Jitendra Malik 55 15 0 12 Sep 2024
InterACT: Inter-dependency Aware Action Chunking with Hierarchical Attention Transformers for Bimanual Manipulation Andrew Lee Ian Chuang Ling-Yuan Chen Iman Soltani 47 6 0 12 Sep 2024
HiRT: Enhancing Robotic Control with Hierarchical Robot Transformers Jianke Zhang Yanjiang Guo Xiaoyu Chen Yen-Jen Wang Yucheng Hu Chengming Shi Jianyu Chen 37 5 0 12 Sep 2024
Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching Eugenio Chisari Nick Heppert Max Argus Tim Welschehold Thomas Brox Abhinav Valada 3DPC 63 13 0 11 Sep 2024
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots Maria Bauzá José Enrique Chen Valentin Dalibard Nimrod Gileadi Roland Hafner ... Martin Riedmiller Jon Scholz Konstantinos Bousmalis Francesco Nori Nicolas Heess 34 5 0 10 Sep 2024
One-Shot Imitation under Mismatched Execution Kushal Kedia Prithwish Dan Sanjiban Choudhury Maximus Adrian Pace Sanjiban Choudhury 58 2 0 10 Sep 2024
Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments Haritheja Etukuru Norihito Naka Zijin Hu Seungjae Lee Julian Mehu Aaron Edsinger Chris Paxton Soumith Chintala Lerrel Pinto Nur Muhammad (Mahi) Shafiullah LM&Ro 33 23 0 09 Sep 2024
Forward KL Regularized Preference Optimization for Aligning Diffusion Policies Zhao Shan Chenyou Fan Shuang Qiu Jiyuan Shi Chenjia Bai 43 4 0 09 Sep 2024
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching Niklas Funk Julen Urain João Carvalho V. Prasad Georgia Chalvatzaki Jan Peters 58 5 0 06 Sep 2024
Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance Renming Huang Shaochong Liu Yunqiang Pei Peng Wang Guoqing Wang Yang Yang Hengtao Shen OffRL 40 0 0 06 Sep 2024
Affordance-based Robot Manipulation with Flow Matching Fan Zhang Michael Gienger 57 6 0 02 Sep 2024
Learning to Singulate Objects in Packed Environments using a Dexterous Hand Hao Jiang Yuhai Wang Hanyang Zhou Daniel Seita 49 2 0 01 Sep 2024
Diffusion Policy Policy Optimization Allen Z. Ren Justin Lidard Lars L. Ankile Anthony Simeonov Pulkit Agrawal Anirudha Majumdar Benjamin Burchfiel Hongkai Dai Max Simchowitz 54 36 0 01 Sep 2024
DAP: Diffusion-based Affordance Prediction for Multi-modality Storage Haonan Chang Kowndinya Boyalakuntla Yuhan Liu Xinyu Zhang Liam Schramm Abdeslam Boularias 29 0 0 31 Aug 2024
Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling Yuejiang Liu Jubayer Ibn Hamid Annie Xie Yoonho Lee Maximilian Du Chelsea Finn OffRL 65 0 0 30 Aug 2024
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning Li-Heng Lin Yuchen Cui Amber Xie Tianyu Hua Dorsa Sadigh 29 8 0 29 Aug 2024
MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale Anton Andreychuk Konstantin Yakovlev Aleksandr I. Panov A. Skrynnik AI4CE 67 3 0 29 Aug 2024
In-Context Imitation Learning via Next-Token Prediction Letian Fu Huang Huang Gaurav Datta Lawrence Yunliang Chen William Chung-Ho Panitch Fangchen Liu Hui Li Ken Goldberg LM&Ro 37 16 0 28 Aug 2024
MODULI: Unlocking Preference Generalization via Diffusion Models for Offline Multi-Objective Reinforcement Learning Yifu Yuan Zhenrui Zheng Zibin Dong Jianye Hao OffRL 52 1 0 28 Aug 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics Yixuan Huang Christopher Agia Jimmy Wu Tucker Hermans Jeannette Bohg 3DPC 49 1 0 27 Aug 2024
GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal Conditioned Policy Peiyan Li Hongtao Wu Yan Huang Chilam Cheang Liang Wang Tao Kong VGen 58 11 0 26 Aug 2024
Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning Joey Hejna Chethan Bhateja Yichen Jian Karl Pertsch Dorsa Sadigh 25 16 0 26 Aug 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction Graphs Jianren Wang Kangni Liu Dingkun Guo Xian Zhou Christopher G Atkeson 35 0 0 22 Aug 2024
Automating Deformable Gasket Assembly Simeon Adebola Tara Sadjadpour Karim El-Refai Will Panitch Zehan Ma ... Tianshuang Qiu Shreya Ganti Charlotte Le Jaimyn Drake Ken Goldberg AI4CE 39 0 0 22 Aug 2024
Scaling Cross-Embodied Learning: One Policy for Manipulation, Navigation, Locomotion and Aviation Ria Doshi Homer Walke Oier Mees Sudeep Dasari Sergey Levine 54 48 0 21 Aug 2024
ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation Shiqi Yang Minghuan Liu Yuzhe Qin Runyu Ding Jialong Li Xuxin Cheng Ruihan Yang Sha Yi Xiaolong Wang 32 29 0 21 Aug 2024
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands Yi Zhao Le Chen Jan Schneider Quankai Gao Arno Solin Bernhard Scholkopf Joni Pajarinen Le Chen 33 1 0 20 Aug 2024
A Biologically Inspired Design Principle for Building Robust Robotic Systems Xing Li Oussama Zenkri Adrian Pfisterer Oliver Brock 53 0 0 19 Aug 2024
Beyond Local Views: Global State Inference with Diffusion Models for Cooperative Multi-Agent Reinforcement Learning Zhiwei Xu Hangyu Mao Nianmin Zhang Xin Xin Pengjie Ren ... Bin Zhang Guoliang Fan Zhumin Chen Changwei Wang Jiangjin Yin DiffM 37 1 0 18 Aug 2024
Diffusion Model for Planning: A Systematic Literature Review Toshihide Ubukata Jialong Li Kenji Tei DiffM MedIm 59 6 0 16 Aug 2024
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation Michael Drolet Simon Stepputtis Siva Kailas Ajinkya Jain Jan Peters S. Schaal H. B. Amor 38 10 0 13 Aug 2024
F1tenth Autonomous Racing With Offline Reinforcement Learning Methods Prajwal Koirala Cody Fleming OffRL 37 1 0 08 Aug 2024
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots A. N. Sivakumar Pranay Thangeda Yixiao Fang M. V. Gasparino José Cuarán Melkior Ornik Girish Chowdhary 28 0 0 06 Aug 2024
KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance Jingxian Lu Wenke Xia Dong Wang Zhigang Wang Bin Zhao Di Hu Xuelong Li 46 3 0 06 Aug 2024
RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors Uksang Yoo Adam Hung Jonathan M Francis Jean Oh Jeffrey Ichnowski 42 2 0 05 Aug 2024
Stimulating Imagination: Towards General-purpose Object Rearrangement Jianyang Wu Jie Gu Xiaokang Ma Chu Tang Jingmin Chen DiffM LM&Ro OCL 37 0 0 03 Aug 2024