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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
Task-Agnostic Pre-training and Task-Guided Fine-tuning for Versatile Diffusion Planner Chenyou Fan Chenjia Bai Zhao Shan Haoran He Yang Zhang Zhen Wang 110 3 0 30 Sep 2024
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization Jingjing Chen Hongjie Fang Hao-Shu Fang Cewu Lu 118 2 0 30 Sep 2024
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies Ruiyu Wang Zheyu Zhuang Shutong Jin Nils Ingelhag Danica Kragic Florian T. Pokorny 110 0 0 30 Sep 2024
RoboNurse-VLA: Robotic Scrub Nurse System based on Vision-Language-Action Model Shunlei Li Jin Wang Rui Dai Wanyu Ma Wing Yin Ng Yingbai Hu Zheng Li 37 3 0 29 Sep 2024
FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation Litao Liu Wentao Wang Yifan Han Zhuoli Xie Pengfei Yi Junyan Li Yi Qin Wenzhao Lian 113 2 0 29 Sep 2024
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset Ziniu Wu Tianyu Wang Zhaxizhuoma Chuyue Guan Zhongjie Jia ... Zhigang Wang Nieqing Cao Yan Ding Bin Zhao Xuelong Li 92 3 0 29 Sep 2024
Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning Zixuan Wu Z. Zaidi Adithya Patil Qingyu Xiao Matthew C. Gombolay 141 1 0 29 Sep 2024
Generalizing Consistency Policy to Visual RL with Prioritized Proximal Experience Regularization Haoran Li Zhennan Jiang Yuhui Chen Dongbin Zhao OffRL 113 3 0 28 Sep 2024
RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution Wonsuhk Jung Dennis Anthony Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Matthew Bronars Danfei Xu Shreyas Kousik 110 0 0 28 Sep 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 193 8 0 27 Sep 2024
An Augmented Reality Interface for Teleoperating Robot Manipulators Aliyah Smith Monroe Kennedy III 114 1 0 27 Sep 2024
Learning from Demonstration with Implicit Nonlinear Dynamics Models Peter David Fagan Subramanian Ramamoorthy 453 0 0 27 Sep 2024
Flatñ'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation Lipeng Zhuang Shiyu Fan Yingdong Ru Florent P. Audonnet Paul Henderson Gerardo Aragon-Camarasa 86 1 0 26 Sep 2024
Joint Localization and Planning using Diffusion Lukas Lao Beyer S. Karaman 83 0 0 26 Sep 2024
Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation Ian Chuang Andrew Lee Dechen Gao M-Mahdi Naddaf-Sh Iman Soltani 179 9 0 26 Sep 2024
Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning Tianhao Wu Jinzhou Li Jiyao Zhang Mingdong Wu Hao Dong SSL 127 8 0 26 Sep 2024
StackGen: Generating Stable Structures from Silhouettes via Diffusion Luzhe Sun Takuma Yoneda Samuel Wheeler Tianchong Jiang Matthew R. Walter DiffM 180 1 0 26 Sep 2024
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly Jiankai Sun Aidan Curtis Yang You Yan Xu Michael Koehle Leonidas Guibas Sachin Chitta Mac Schwager Hui Li 123 2 0 24 Sep 2024
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph Utkarsh Aashu Mishra Yongxin Chen Danfei Xu LRM 71 4 0 24 Sep 2024
Hypothesis Clustering and Merging: Novel MultiTalker Speech Recognition with Speaker Tokens Yosuke Kashiwagi Hayato Futami E. Tsunoo Siddhant Arora Shinji Watanabe 113 1 0 24 Sep 2024
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation W. V. D. Bogert Madhavan Iyengar Nima Fazeli 71 1 0 23 Sep 2024
RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning Yinpei Dai Jayjun Lee Nima Fazeli Joyce Chai 73 13 0 23 Sep 2024
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance Kin Man Lee Sean Ye Qingyu Xiao Zixuan Wu Z. Zaidi David B. DÁmbrosio Pannag R Sanketi Matthew Gombolay 163 3 0 23 Sep 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies Haojie Huang Haotian Liu Dian Wang Robin Walters Robert Platt 3DPC 392 4 0 23 Sep 2024
DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization Nayoung Oh Jaehyeong Jang Moonkyeong Jung Daehyung Park 473 0 0 23 Sep 2024
XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning Prabin Kumar Rath Nakul Gopalan 87 0 0 23 Sep 2024
Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation Minjie Zhu Yichen Zhu Jinming Li Junjie Wen Zhiyuan Xu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang 97 17 0 22 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 131 9 0 22 Sep 2024
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 108 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 168 1 0 20 Sep 2024
TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation Junjie Wen Yinlin Zhu Jinming Li Minjie Zhu Kun Wu ... Ran Cheng Yaxin Peng Chaomin Shen Feifei Feng Jian Tang LM&Ro 184 70 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 116 17 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 70 0 0 18 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 95 1 0 17 Sep 2024
3DFacePolicy: Speech-Driven 3D Facial Animation with Diffusion Policy Xuanmeng Sha Liyun Zhang Tomohiro Mashita Yuki Uranishi VGen 58 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 144 12 0 17 Sep 2024
DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models Avirup Das Rishabh Dev Yadav Sihao Sun Mingfei Sun Samuel Kaski Wei Pan 81 2 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 132 22 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 122 1 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 48 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 64 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 104 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 92 18 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 92 10 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 94 13 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 101 20 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 73 6 0 10 Sep 2024
One-Shot Imitation under Mismatched Execution Kushal Kedia Prithwish Dan Sanjiban Choudhury Maximus Adrian Pace Sanjiban Choudhury 156 5 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 90 27 0 09 Sep 2024
Forward KL Regularized Preference Optimization for Aligning Diffusion Policies Zhao Shan Chenyou Fan Shuang Qiu Jiyuan Shi Chenjia Bai 109 4 0 09 Sep 2024