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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
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching Niklas Funk Julen Urain João Carvalho V. Prasad Georgia Chalvatzaki Jan Peters 94 12 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 90 0 0 06 Sep 2024
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis Stephen Tian Blake Wulfe Kyle Sargent Katherine Liu Sergey Zakharov Vitor Campagnolo Guizilini Jiajun Wu 184 12 0 05 Sep 2024
Affordance-based Robot Manipulation with Flow Matching Fan Zhang Michael Gienger 185 14 0 02 Sep 2024
Learning to Singulate Objects in Packed Environments using a Dexterous Hand Hao Jiang Yuhai Wang Hanyang Zhou Daniel Seita 134 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 168 57 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 101 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 129 5 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 96 10 0 29 Aug 2024
MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale Anton Andreychuk Konstantin Yakovlev Aleksandr I. Panov A. Skrynnik AI4CE 175 5 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 86 23 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 134 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 169 2 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 100 13 0 26 Aug 2024
Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning Joey Hejna Chethan Bhateja Yichen Jian Karl Pertsch Dorsa Sadigh 100 20 0 26 Aug 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction Graphs Jianren Wang Kangni Liu Dingkun Guo Xian Zhou Christopher G Atkeson 80 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 66 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 140 60 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 96 32 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 73 2 0 20 Aug 2024
A Biologically Inspired Design Principle for Building Robust Robotic Systems Xing Li Oussama Zenkri Adrian Pfisterer Oliver Brock 89 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 Fajie Yuan ... Bin Zhang Guoliang Fan Zhumin Chen Changwei Wang Jiangjin Yin DiffM 82 1 0 18 Aug 2024
Diffusion Model for Planning: A Systematic Literature Review Toshihide Ubukata Jialong Li Kenji Tei DiffM MedIm 142 9 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 81 10 0 13 Aug 2024
F1tenth Autonomous Racing With Offline Reinforcement Learning Methods Prajwal Koirala Cody Fleming OffRL 84 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 66 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 82 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 87 4 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 57 0 0 03 Aug 2024
Adaptive Planning with Generative Models under Uncertainty Pascal Jutras-Dubé Ruqi Zhang Aniket Bera 72 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 81 9 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 101 3 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 106 24 0 29 Jul 2024
Detecting Unsafe Behavior in Neural Network Imitation Policies for Caregiving Robotics Andrii Tytarenko OffRL 89 0 0 29 Jul 2024
HRP: Human Affordances for Robotic Pre-Training Mohan Kumar Srirama Sudeep Dasari Shikhar Bahl Abhinav Gupta 101 19 0 26 Jul 2024
PianoMime: Learning a Generalist, Dexterous Piano Player from Internet Demonstrations Cheng Qian Julen Urain Kevin Zakka Jan Peters 64 5 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 109 11 0 23 Jul 2024
QueST: Self-Supervised Skill Abstractions for Learning Continuous Control Atharva Mete Haotian Xue Albert Wilcox Yongxin Chen Animesh Garg SSL 150 22 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 102 23 0 22 Jul 2024
Offline Imitation Learning Through Graph Search and Retrieval Zhao-Heng Yin Pieter Abbeel OffRL 91 5 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 151 46 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 88 2 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 84 8 0 18 Jul 2024
R+X: Retrieval and Execution from Everyday Human Videos Georgios Papagiannis Norman Di Palo Pietro Vitiello Edward Johns 148 18 0 17 Jul 2024
Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation Jonne van Haastregt Michael C. Welle Yuchong Zhang Danica Kragic 65 4 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 104 11 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 115 55 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 119 9 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 110 0 0 10 Jul 2024
Generative Image as Action Models Mohit Shridhar Yat Long Lo Stephen James 119 12 0 10 Jul 2024