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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
v1v2v3v4v5 (latest)

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023
Cheng Chi
Zhenjia Xu
S. Feng
Eric A. Cousineau
Yilun Du
Benjamin Burchfiel
Russ Tedrake
Shuran Song
ArXiv (abs)PDFHTML

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

50 / 932 papers shown
Title
One Step Diffusion via Shortcut Models
One Step Diffusion via Shortcut Models
Kevin Frans
Danijar Hafner
Sergey Levine
Pieter Abbeel
VLMDiffM
170
48
0
16 Oct 2024
Affordance-Centric Policy Learning: Sample Efficient and Generalisable
  Robot Policy Learning using Affordance-Centric Task Frames
Affordance-Centric Policy Learning: Sample Efficient and Generalisable Robot Policy Learning using Affordance-Centric Task Frames
Krishan Rana
Jad Abou-Chakra
Sourav Garg
Robert Lee
Ian Reid
Niko Suenderhauf
48
4
0
15 Oct 2024
Generalizable Spacecraft Trajectory Generation via Multimodal Learning
  with Transformers
Generalizable Spacecraft Trajectory Generation via Multimodal Learning with Transformers
Davide Celestini
Amirhossein Afsharrad
Daniele Gammelli
T. Guffanti
G. Zardini
Sanjay Lall
Elisa Capello
Simone DÁmico
Marco Pavone
95
1
0
15 Oct 2024
SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single
  Video Demonstration
SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration
Jeffrey Li
Maria Stamatopoulou
Dimitrios Kanoulas
77
1
0
15 Oct 2024
Hessian-Informed Flow Matching
Hessian-Informed Flow Matching
Christopher Iliffe Sprague
Arne Elofsson
Hossein Azizpour
74
0
0
15 Oct 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile
  Manipulation in 3D Scenes
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Sixu Yan
Zeyu Zhang
Muzhi Han
Zaijin Wang
Qi Xie
Zhitian Li
Zhehan Li
Hangxin Liu
Xinggang Wang
Song-Chun Zhu
122
8
0
15 Oct 2024
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment
Wendi Chen
Han Xue
Fangyuan Zhou
Yuan Fang
Cewu Lu
97
1
0
15 Oct 2024
Incorporating Task Progress Knowledge for Subgoal Generation in Robotic
  Manipulation through Image Edits
Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits
Xuhui Kang
Yen-Ling Kuo
89
3
0
14 Oct 2024
Boosting Camera Motion Control for Video Diffusion Transformers
Boosting Camera Motion Control for Video Diffusion Transformers
Soon Yau Cheong
Duygu Ceylan
Armin Mustafa
Andrew Gilbert
C. Huang
DiffMVGen
128
13
0
14 Oct 2024
The Ingredients for Robotic Diffusion Transformers
The Ingredients for Robotic Diffusion Transformers
Sudeep Dasari
Oier Mees
Sebastian Zhao
Mohan Kumar Srirama
Sergey Levine
123
24
0
14 Oct 2024
Language-Model-Assisted Bi-Level Programming for Reward Learning from
  Internet Videos
Language-Model-Assisted Bi-Level Programming for Reward Learning from Internet Videos
Harsh Mahesheka
Zhixian Xie
Ziyi Wang
Wanxin Jin
83
0
0
11 Oct 2024
Conformalized Interactive Imitation Learning: Handling Expert Shift and Intermittent Feedback
Conformalized Interactive Imitation Learning: Handling Expert Shift and Intermittent Feedback
Michelle Zhao
Reid G. Simmons
H. Admoni
Aaditya Ramdas
Andrea Bajcsy
458
4
0
11 Oct 2024
Zero-Shot Offline Imitation Learning via Optimal Transport
Zero-Shot Offline Imitation Learning via Optimal Transport
Thomas Rupf
Marco Bagatella
Nico Gürtler
Jonas Frey
Georg Martius
OffRL
453
0
0
11 Oct 2024
On the Evaluation of Generative Robotic Simulations
On the Evaluation of Generative Robotic Simulations
Feng Chen
Botian Xu
Pu Hua
Peiqi Duan
Yanchao Yang
Yi Ma
Huazhe Xu
VGen
102
0
0
10 Oct 2024
Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation
Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation
Qingwen Bu
Hongyang Li
Li Chen
Jisong Cai
Jia Zeng
Heming Cui
Maoqing Yao
Yu Qiao
168
11
0
10 Oct 2024
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation
Haoyi Zhu
Honghui Yang
Yating Wang
Jiange Yang
Limin Wang
Tong He
3DH
135
9
0
10 Oct 2024
Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
Jianxin Bi
Kelvin Lim
Kaiqi Chen
Yifei Huang
Harold Soh
114
1
0
10 Oct 2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
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
149
126
0
10 Oct 2024
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation
Wenhai Liu
Junbo Wang
Yiming Wang
Weiming Wang
Cewu Lu
111
18
0
10 Oct 2024
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon
  Task-Oriented Dexterous Manipulation
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation
Shaunak A. Mehta
Rana Soltani Zarrin
68
0
0
09 Oct 2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Combining Planning and Diffusion for Mobility with Unknown Dynamics
Yajvan Ravan
Zhutian Yang
Tao Chen
Tomás Lozano-Pérez
Leslie Pack Kaelbling
82
4
0
09 Oct 2024
Learning the Generalizable Manipulation Skills on Soft-body Tasks via
  Guided Self-attention Behavior Cloning Policy
Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy
XueTao Li
Fang Gao
Jun Yu
Shaodong Li
Feng Shuang
LM&Ro
61
0
0
08 Oct 2024
Diffusion Imitation from Observation
Diffusion Imitation from Observation
Bo-Ruei Huang
Chun-Kai Yang
Chun-Mao Lai
Dai-Jie Wu
Shao-Hua Sun
86
4
0
07 Oct 2024
HE-Drive: Human-Like End-to-End Driving with Vision Language Models
HE-Drive: Human-Like End-to-End Driving with Vision Language Models
Junming Wang
Xingyu Zhang
Zebin Xing
Songen Gu
Xiaoyang Guo
Yang Hu
Ziying Song
Qian Zhang
Xiaoxiao Long
Wei Yin
92
12
0
07 Oct 2024
Diffusion Model Predictive Control
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
Understanding and Imitating Human-Robot Motion with Restricted Visual Fields
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
Active Fine-Tuning of Multi-Task Policies
Active Fine-Tuning of Multi-Task Policies
Marco Bagatella
Jonas Hübotter
Georg Martius
Andreas Krause
151
0
0
07 Oct 2024
Control-oriented Clustering of Visual Latent Representation
Control-oriented Clustering of Visual Latent Representation
Han Qi
Haocheng Yin
Heng Yang
SSL
145
2
0
07 Oct 2024
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of
  Consistency and Progress
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress
Christopher Agia
Rohan Sinha
Jingyun Yang
Zi-ang Cao
Rika Antonova
Marco Pavone
Jeannette Bohg
94
9
0
06 Oct 2024
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning
  LLMs
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs
Pu Hua
Minghuan Liu
Annabella Macaluso
Yunfeng Lin
Weinan Zhang
Huazhe Xu
Lirui Wang
LM&RoLRM
143
15
0
04 Oct 2024
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task
  character control
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control
Guy Tevet
Sigal Raab
S. Cohan
Daniele Reda
Zhengyi Luo
Xue Bin Peng
Amit H. Bermano
M. van de Panne
94
19
0
04 Oct 2024
Autoregressive Action Sequence Learning for Robotic Manipulation
Autoregressive Action Sequence Learning for Robotic Manipulation
Xinyu Zhang
Yuhan Liu
Haonan Chang
Liam Schramm
Abdeslam Boularias
159
17
0
04 Oct 2024
Real-World Cooking Robot System from Recipes Based on Food State
  Recognition Using Foundation Models and PDDL
Real-World Cooking Robot System from Recipes Based on Food State Recognition Using Foundation Models and PDDL
Naoaki Kanazawa
Kento Kawaharazuka
Yoshiki Obinata
Kei Okada
Masayuki Inaba
LM&Ro
55
1
0
03 Oct 2024
Grounded Answers for Multi-agent Decision-making Problem through
  Generative World Model
Grounded Answers for Multi-agent Decision-making Problem through Generative World Model
Zeyang Liu
Xinrui Yang
Shiguang Sun
Long Qian
Lipeng Wan
Xingyu Chen
Xuguang Lan
112
3
0
03 Oct 2024
Diffusion Meets Options: Hierarchical Generative Skill Composition for
  Temporally-Extended Tasks
Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks
Zeyu Feng
Hao Luan
Kevin Yuchen Ma
Harold Soh
85
2
0
03 Oct 2024
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity
J. Huber
François Hélénon
Mathilde Kappel
Ignacio de Loyola Páez-Ubieta
S. T. Puente
Pablo Gil
F. B. Amar
Stéphane Doncieux
SLR
114
1
0
03 Oct 2024
Local Flow Matching Generative Models
Local Flow Matching Generative Models
Chen Xu
Xiuyuan Cheng
Yao Xie
138
2
0
03 Oct 2024
Equality Constrained Diffusion for Direct Trajectory Optimization
Equality Constrained Diffusion for Direct Trajectory Optimization
Vince Kurtz
Joel W. Burdick
115
3
0
02 Oct 2024
Topological mapping for traversability-aware long-range navigation in
  off-road terrain
Topological mapping for traversability-aware long-range navigation in off-road terrain
J. Tremblay
Julie Alhosh
Louis Petit
F. Lotfi
Lara Landauro
David Meger
53
0
0
02 Oct 2024
Robo-MUTUAL: Robotic Multimodal Task Specification via Unimodal Learning
Robo-MUTUAL: Robotic Multimodal Task Specification via Unimodal Learning
Jianxiong Li
Zhihao Wang
Jinliang Zheng
Xiaoai Zhou
Guanming Wang
...
Yu Liu
Jingjing Liu
Ya-Qin Zhang
Junzhi Yu
Xianyuan Zhan
80
2
0
02 Oct 2024
Sampling from Energy-based Policies using Diffusion
Sampling from Energy-based Policies using Diffusion
V. Jain
Tara Akhound-Sadegh
Siamak Ravanbakhsh
DiffM
158
2
0
02 Oct 2024
Robust Imitation Learning for Mobile Manipulator Focusing on
  Task-Related Viewpoints and Regions
Robust Imitation Learning for Mobile Manipulator Focusing on Task-Related Viewpoints and Regions
Yutaro Ishida
Yuki Noguchi
Takayuki Kanai
Kazuhiro Shintani
Hiroshi Bito
47
2
0
02 Oct 2024
Effective Tuning Strategies for Generalist Robot Manipulation Policies
Effective Tuning Strategies for Generalist Robot Manipulation Policies
Wenbo Zhang
Yang Li
Yanyuan Qiao
Siyuan Huang
Jiajun Liu
Feras Dayoub
Xiao Ma
Lingqiao Liu
79
0
0
02 Oct 2024
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy
Ricardo Garcia
Shizhe Chen
Cordelia Schmid
LM&Ro
113
14
0
02 Oct 2024
Denoising with a Joint-Embedding Predictive Architecture
Denoising with a Joint-Embedding Predictive Architecture
Dengsheng Chen
Jie Hu
Xiaoming Wei
Enhua Wu
DiffM
172
3
0
02 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger
  Manipulation
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
Abhinav Kumar
Thomas Power
Fan Yang
Sergio Aguilera Marinovic
Soshi Iba
Rana Soltani Zarrin
Dmitry Berenson
96
0
0
01 Oct 2024
Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction
Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction
Hyogo Hiruma
Hiroshi Ito
T. Ogata
30
0
0
01 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI
Stone Tao
Fanbo Xiang
Arth Shukla
Yuzhe Qin
Xander Hinrichsen
...
Shan Luo
Roberto Calandra
Rui Chen
Shan Luo
Hao Su
120
38
0
01 Oct 2024
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly
Johannes Lachner
F. Tessari
A. Michael West Jr.
Moses C. Nah
Neville Hogan
72
0
0
01 Oct 2024
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained
  Transformers
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers
Lirui Wang
Xinlei Chen
Jialiang Zhao
Kaiming He
73
44
0
30 Sep 2024
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