Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

50 / 811 papers shown

Title
F1tenth Autonomous Racing With Offline Reinforcement Learning Methods Prajwal Koirala Cody Fleming OffRL 40 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 33 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
Adaptive Planning with Generative Models under Uncertainty Pascal Jutras-Dubé Ruqi Zhang Aniket Bera 38 2 0 02 Aug 2024
Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation Runze Yuan Tao Liu Wenke Ma Xuelong Li 39 8 0 02 Aug 2024
Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation Jan Brüdigam Ali-Adeeb Abbas Maks Sorokin Kuan Fang Brandon Hung Maya Guru Stefan Sosnowski Jiuguang Wang Sandra Hirche Simon Le Cleac'h 36 2 0 02 Aug 2024
Theia: Distilling Diverse Vision Foundation Models for Robot Learning Jinghuan Shang Karl Schmeckpeper Brandon B. May M. Minniti Tarik Kelestemur David Watkins Laura Herlant VLM 38 23 0 29 Jul 2024
Detecting Unsafe Behavior in Neural Network Imitation Policies for Caregiving Robotics Andrii Tytarenko OffRL 52 0 0 29 Jul 2024
HRP: Human Affordances for Robotic Pre-Training Mohan Kumar Srirama Sudeep Dasari Shikhar Bahl Abhinav Gupta 43 15 0 26 Jul 2024
PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations Cheng Qian Julen Urain Kevin Zakka Jan Peters 30 4 0 25 Jul 2024
From Imitation to Refinement -- Residual RL for Precise Visual Assembly Lars Ankile Anthony Simeonov Idan Shenfeld M. Torné Pulkit Agrawal OffRL 59 7 0 23 Jul 2024
QueST: Self-Supervised Skill Abstractions for Learning Continuous Control Atharva Mete Haotian Xue Albert Wilcox Yongxin Chen Animesh Garg SSL 40 17 0 22 Jul 2024
Learning to Manipulate Anywhere: A Visual Generalizable Framework For Reinforcement Learning Zhecheng Yuan Tianming Wei Shuiqi Cheng Gu Zhang Yuanpei Chen Huazhe Xu 56 23 0 22 Jul 2024
Offline Imitation Learning Through Graph Search and Retrieval Zhao-Heng Yin Pieter Abbeel OffRL 50 3 0 22 Jul 2024
Flow as the Cross-Domain Manipulation Interface Mengda Xu Zhenjia Xu Yinghao Xu Cheng Chi Gordon Wetzstein Manuela Veloso Shuran Song AI4CE 49 36 0 21 Jul 2024
OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning Yi-Fan Yao Zhepeng Cen Wenhao Ding Hao-ming Lin Shiqi Liu Tingnan Zhang Wenhao Yu Ding Zhao OffRL OnRL 53 1 0 19 Jul 2024
The Art of Imitation: Learning Long-Horizon Manipulation Tasks from Few Demonstrations Jan Ole von Hartz Tim Welschehold Abhinav Valada Joschka Boedecker 33 7 0 18 Jul 2024
R+X: Retrieval and Execution from Everyday Human Videos Georgios Papagiannis Norman Di Palo Pietro Vitiello Edward Johns 64 16 0 17 Jul 2024
Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation Jonne van Haastregt Michael C. Welle Yuchong Zhang Danica Kragic 46 3 0 16 Jul 2024
BadRobot: Jailbreaking Embodied LLMs in the Physical World Hangtao Zhang Chenyu Zhu Xianlong Wang Ziqi Zhou Yichen Wang ... Shengshan Hu Leo Yu Zhang Aishan Liu Peijin Guo Leo Yu Zhang LM&Ro 57 8 0 16 Jul 2024
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers Huy Ha Yihuai Gao Zipeng Fu Jie Tan Shuran Song 46 39 0 14 Jul 2024
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Pipeline for Multi-Dexterous Robotic Hands Zhengsheng Zhang Lei Zhou Chenchen Liu Zhiyang Liu Chengran Yuan Sheng Guo Ruiteng Zhao Marcelo H. Ang Francis EH Tay 55 8 0 13 Jul 2024
Towards Interpretable Foundation Models of Robot Behavior: A Task Specific Policy Generation Approach Isaac S. Sheidlower Reuben M. Aronson E. Short 36 0 0 10 Jul 2024
Generative Image as Action Models Mohit Shridhar Yat Long Lo Stephen James 47 9 0 10 Jul 2024
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation Eugene Teoh Sumit Patidar Xiao Ma Stephen James 51 5 0 10 Jul 2024
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark Nikita Chernyadev Nicholas Backshall Xiao Ma Yunfan Lu Younggyo Seo Stephen James 29 11 0 10 Jul 2024
RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios Liming Zheng Feng Yan Fanfan Liu Chengjian Feng Zhuoliang Kang Lin Ma 47 2 0 09 Jul 2024
Potential Based Diffusion Motion Planning Yunhao Luo Chen Sun Joshua B. Tenenbaum Yilun Du DiffM 42 16 0 08 Jul 2024
Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals Moritz Reuss Ömer Erdinç Yagmurlu Fabian Wenzel Rudolf Lioutikov OffRL 42 42 0 08 Jul 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang Junjie Ye Haoran Geng Jiageng Mao Congyue Deng Leonidas J. Guibas He Wang Yue Wang LM&Ro 56 22 0 05 Jul 2024
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation I-Chun Arthur Liu Sicheng He Daniel Seita Gaurav Sukhatme LM&Ro 48 11 0 04 Jul 2024
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning Runyu Ding Yuzhe Qin Jiyue Zhu Chengzhe Jia Shiqi Yang Ruihan Yang Xiaojuan Qi Xiaolong Wang 37 49 0 03 Jul 2024
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance Wenhao Yu Jie Peng Huanyu Yang Junrui Zhang YiFan Duan Jianmin Ji Yanyong Zhang 44 14 0 02 Jul 2024
Equivariant Diffusion Policy Dian Wang Stephen M. Hart David Surovik Tarik Kelestemur Haojie Huang Haibo Zhao Mark Yeatman Jiuguang Wang Robin Walters Robert Platt DiffM 61 22 0 01 Jul 2024
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang Yifei Zhang Mingxiao Huo Ran Tian Xiang Zhang ... Chenfeng Xu Pengliang Ji Wei Zhan Mingyu Ding Masayoshi Tomizuka MoE 48 18 0 01 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 63 100 0 01 Jul 2024
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning Jingyun Yang Zi-ang Cao Congyue Deng Rika Antonova Shuran Song Jeannette Bohg DiffM 64 30 0 01 Jul 2024
Residual-MPPI: Online Policy Customization for Continuous Control Pengcheng Wang Chenran Li Catherine Weaver Kenta Kawamoto Masayoshi Tomizuka Chen Tang Wei Zhan OffRL 37 3 0 01 Jul 2024
Diffusion-BBO: Diffusion-Based Inverse Modeling for Online Black-Box Optimization D. Wu Nikki Lijing Kuang Ruijia Niu Yi Ma Rose Yu 52 1 0 30 Jun 2024
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation Hongyi Chen Abulikemu Abuduweili Aviral Agrawal Yunhai Han Harish Ravichandar Changliu Liu Jeffrey Ichnowski 52 5 0 29 Jun 2024
Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition Shengcheng Luo Quanquan Peng Jun Lv Kaiwen Hong Katherine Rose Driggs-Campbell Cewu Lu Yong-Lu Li 57 3 0 29 Jun 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 36 1 0 29 Jun 2024
DISCO: Efficient Diffusion Solver for Large-Scale Combinatorial Optimization Problems Kexiong Yu Hang Zhao Yuhang Huang Renjiao Yi Kai Xu Chenyang Zhu 51 0 0 28 Jun 2024
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data Zeyi Liu Cheng Chi Eric A. Cousineau Naveen Kuppuswamy Benjamin Burchfiel Shuran Song VGen 44 26 0 27 Jun 2024
From Pixels to Torques with Linear Feedback Jeong Hun Lee Sam Schoedel Aditya Bhardwaj Zachary Manchester 39 0 0 26 Jun 2024
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation Junbang Liang Ruoshi Liu Ege Ozguroglu Sruthi Sudhakar Achal Dave P. Tokmakov Shuran Song Carl Vondrick VGen 42 24 0 24 Jun 2024
Provable Statistical Rates for Consistency Diffusion Models Zehao Dou Minshuo Chen Mengdi Wang Zhuoran Yang DiffM 39 3 0 23 Jun 2024
Diffusion Spectral Representation for Reinforcement Learning Dmitry Shribak Chen-Xiao Gao Yitong Li Chenjun Xiao Bo Dai DiffM 29 3 0 23 Jun 2024