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
To Err is Robotic: Rapid Value-Based Trial-and-Error during Deployment Maximilian Du Alexander Khazatsky Tobias Gerstenberg Chelsea Finn 51 0 0 22 Jun 2024
Open-vocabulary Pick and Place via Patch-level Semantic Maps Mingxi Jia Haojie Huang Zhewen Zhang Chenghao Wang Linfeng Zhao Dian Wang J. Liu Robin Walters Robert Platt Stefanie Tellex LM&Ro 44 5 0 21 Jun 2024
Low Fidelity Visuo-Tactile Pretraining Improves Vision-Only Manipulation Performance Selam Gano Abraham George A. Farimani OnRL 48 1 0 21 Jun 2024
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation Jiaming Zhou Teli Ma Kun-Yu Lin Ronghe Qiu Zifan Wang Junwei Liang 57 5 0 20 Jun 2024
Variational Distillation of Diffusion Policies into Mixture of Experts Hongyi Zhou Denis Blessing Ge Li Onur Celik Xiaogang Jia Gerhard Neumann Rudolf Lioutikov DiffM 46 3 0 18 Jun 2024
Immiscible Diffusion: Accelerating Diffusion Training with Noise Assignment Yiheng Li Heyang Jiang Akio Kodaira Masayoshi Tomizuka Kurt Keutzer Chenfeng Xu DiffM 52 7 0 18 Jun 2024
Autoregressive Image Generation without Vector Quantization Tianhong Li Yonglong Tian He Li Mingyang Deng Kaiming He DiffM 62 184 0 17 Jun 2024
FetchBench: A Simulation Benchmark for Robot Fetching Beining Han Meenal Parakh Derek Geng Jack A. Defay Luyang Gan Jia Deng 48 2 0 17 Jun 2024
Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policies Haojie Huang Karl Schmeckpeper Dian Wang Ondrej Biza Yaoyao Qian Haotian Liu Mingxi Jia Robert Platt Robin Walters VGen LM&Ro 42 7 0 17 Jun 2024
AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation Chuyan Xiong Chengyu Shen Xiaoqi Li Kaichen Zhou Jiaming Liu Ruiping Wang Hao Dong LRM 36 12 0 17 Jun 2024
Learning Iterative Reasoning through Energy Diffusion Yilun Du Jiayuan Mao Joshua B. Tenenbaum LRM PINN 53 6 0 17 Jun 2024
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation Tong Zhang Yingdong Hu Jiacheng You Yang Gao 28 7 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 30 90 0 15 Jun 2024
BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation Dongjie Yu Hang Xu Yizhou Chen Yi Ren Jia Pan 39 3 0 14 Jun 2024
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes Gergely Sóti Xi Huang C. Wurll Gergely Sóti 34 0 0 14 Jun 2024
Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting Ce Hao Kelvin Lin Siyuan Luo Harold Soh 41 4 0 14 Jun 2024
CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making Zibin Dong Yifu Yuan Jianye Hao Fei Ni Yi Ma Pengyi Li Yan Zheng DiffM 58 9 0 13 Jun 2024
Rethinking Score Distillation as a Bridge Between Image Distributions David McAllister Songwei Ge Jia-Bin Huang David W. Jacobs Alexei A. Efros Aleksander Holyñski Angjoo Kanazawa DiffM 58 14 0 13 Jun 2024
OpenVLA: An Open-Source Vision-Language-Action Model Moo Jin Kim Karl Pertsch Siddharth Karamcheti Ted Xiao Ashwin Balakrishna ... Russ Tedrake Dorsa Sadigh Sergey Levine Percy Liang Chelsea Finn LM&Ro VLM 53 371 0 13 Jun 2024
OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning Tairan He Zhengyi Luo Xialin He Wenli Xiao Chong Zhang Weinan Zhang Kris Kitani Changliu Liu Guanya Shi 52 68 0 13 Jun 2024
RVT-2: Learning Precise Manipulation from Few Demonstrations Ankit Goyal Valts Blukis Jie Xu Yijie Guo Yu-Wei Chao Dieter Fox 40 40 0 12 Jun 2024
MaIL: Improving Imitation Learning with Mamba Xiaogang Jia Qian Wang Atalay Donat Bowen Xing Ge Li Hongyi Zhou Onur Celik Denis Blessing Rudolf Lioutikov Gerhard Neumann Mamba 43 10 0 12 Jun 2024
Scaling Manipulation Learning with Visual Kinematic Chain Prediction Xinyu Zhang Yuhan Liu Haonan Chang Abdeslam Boularias 63 1 0 12 Jun 2024
BAKU: An Efficient Transformer for Multi-Task Policy Learning Siddhant Haldar Zhuoran Peng Lerrel Pinto OffRL 51 28 0 11 Jun 2024
Flow Map Matching Nicholas M. Boffi M. S. Albergo Eric Vanden-Eijnden 39 6 0 11 Jun 2024
PlanDQ: Hierarchical Plan Orchestration via D-Conductor and Q-Performer Chang Chen Junyeob Baek Fei Deng Kenji Kawaguchi Çağlar Gülçehre Sungjin Ahn OffRL 41 1 0 10 Jun 2024
Phase-Amplitude Reduction-Based Imitation Learning Satoshi Yamamori Jun Morimoto 26 0 0 06 Jun 2024
Adaptive Distance Functions via Kelvin Transformation Rafael I. Cabral Muchacho Florian T. Pokorny 37 2 0 05 Jun 2024
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Soroush Nasiriany Abhiram Maddukuri Lance Zhang Adeet Parikh Aaron Lo Abhishek Joshi Ajay Mandlekar Yuke Zhu LM&Ro 45 73 0 04 Jun 2024
Constraint-Aware Diffusion Models for Trajectory Optimization Anjian Li Zihan Ding Adji Bousso Dieng Ryne T. Beeson 58 4 0 03 Jun 2024
PDP: Physics-Based Character Animation via Diffusion Policy Takara E. Truong Michael Piseno Zhaoming Xie Chenxi Liu VGen 53 6 0 03 Jun 2024
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation Guanxing Lu Zifeng Gao Tianxing Chen Wen-Dao Dai Ziwei Wang Yansong Tang Yansong Tang DiffM 76 14 0 03 Jun 2024
Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient Zechu Li Rickmer Krohn Tao Chen Anurag Ajay Pulkit Agrawal Georgia Chalvatzaki DiffM 50 9 0 02 Jun 2024
Instruction-Guided Visual Masking Jinliang Zheng Jianxiong Li Si Cheng Yinan Zheng Jiaming Li Jihao Liu Yu Liu Jingjing Liu Xianyuan Zhan 53 5 0 30 May 2024
Predicting Long-Term Human Behaviors in Discrete Representations via Physics-Guided Diffusion Zhitian Zhang Anjian Li Angelica Lim Mo Chen 41 3 0 29 May 2024
Diffusion Policy Attacker: Crafting Adversarial Attacks for Diffusion-based Policies Yipu Chen Haotian Xue Yongxin Chen AAML 35 5 0 29 May 2024
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels Abhay Deshpande Liyiming Ke Quinn Pfeifer Abhishek Gupta S. Srinivasa 47 1 0 29 May 2024
DiPPeST: Diffusion-based Path Planner for Synthesizing Trajectories Applied on Quadruped Robots Maria Stamatopoulou Jianwei Liu Dimitrios Kanoulas 31 9 0 29 May 2024
Long-Horizon Rollout via Dynamics Diffusion for Offline Reinforcement Learning Hanye Zhao Xiaoshen Han Zhengbang Zhu Minghuan Liu Yong Yu Weinan Zhang OffRL 47 0 0 29 May 2024
Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks Tianle Zhang Dongjiang Li Yihang Li Zecui Zeng Lin Zhao ... Yue Chen Xuelong Wei Yibing Zhan Lusong Li Xiaodong He 43 7 0 29 May 2024
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand Zilin Si Kevin Zhang F. Z. Temel Oliver Kroemer 56 8 0 29 May 2024
Model-Based Diffusion for Trajectory Optimization Chaoyi Pan Zeji Yi Guanya Shi Guannan Qu 54 7 0 28 May 2024
Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning Vitalis Vosylius Younggyo Seo Jafar Uruç Stephen James 30 12 0 28 May 2024
Diffusion-Reward Adversarial Imitation Learning Chun-Mao Lai Hsiang-Chun Wang Ping-Chun Hsieh Yu-Chiang Frank Wang Min-Hung Chen Shao-Hua Sun 39 8 0 25 May 2024
Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization Shutong Ding Ke Hu Zhenhao Zhang Kan Ren Weinan Zhang Jingyi Yu Jingya Wang Ye-ling Shi 40 8 0 25 May 2024
iVideoGPT: Interactive VideoGPTs are Scalable World Models Jialong Wu Shaofeng Yin Ningya Feng Xu He Dong Li Haifeng Zhang Mingsheng Long VGen 51 26 0 24 May 2024
Diffusion Actor-Critic with Entropy Regulator Yinuo Wang Likun Wang Yuxuan Jiang Wenjun Zou Tong Liu ... Wenxuan Wang Liming Xiao Jiang Wu Jingliang Duan Shengbo Eben Li DiffM 42 10 0 24 May 2024
DIDI: Diffusion-Guided Diversity for Offline Behavioral Generation Jinxin Liu Xinghong Guo Zifeng Zhuang Donglin Wang DiffM OffRL 54 2 0 23 May 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 82 45 0 23 May 2024
Octo: An Open-Source Generalist Robot Policy Octo Model Team Dibya Ghosh Homer Walke Karl Pertsch Kevin Black ... Quan Vuong Ted Xiao Dorsa Sadigh Chelsea Finn Sergey Levine 90 364 0 20 May 2024