Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

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Title
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Aaditya Prasad Kevin Qinghong Lin Jimmy Wu Linqi Zhou Jeannette Bohg 40 50 0 13 May 2024
Evaluating Real-World Robot Manipulation Policies in Simulation Xuanlin Li Kyle Hsu Jiayuan Gu Karl Pertsch Oier Mees ... Jiajun Wu Chelsea Finn Hao Su Q. Vuong Ted Xiao OffRL 43 61 0 09 May 2024
Composable Part-Based Manipulation Weiyu Liu Jiayuan Mao Joy Hsu Tucker Hermans Animesh Garg Jiajun Wu 49 12 0 09 May 2024
ExACT: An End-to-End Autonomous Excavator System Using Action Chunking With Transformers Liangliang Chen Shiyu Jin Haoyu Wang Liangjun Zhang 39 0 0 09 May 2024
Pre-trained Text-to-Image Diffusion Models Are Versatile Representation Learners for Control Gunshi Gupta Karmesh Yadav Y. Gal Dhruv Batra Z. Kira Cong Lu Tim G. J. Rudner 39 7 0 09 May 2024
How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation Joseph A. Vincent Haruki Nishimura Masha Itkina Paarth Shah Mac Schwager Thomas Kollar OffRL 42 9 0 08 May 2024
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation Jenny Wang Octavian A. Donca David Held 31 1 0 07 May 2024
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting O. Shorinwa Johnathan Tucker Aliyah Smith Aiden Swann Timothy Chen Roya Firoozi Monroe Kennedy Mac Schwager 37 22 0 07 May 2024
LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning Zeyu Feng Hao Luan Pranav Goyal Harold Soh 24 7 0 07 May 2024
Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 32 4 0 07 May 2024
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning Kota Kondo Andrea Tagliabue Xiaoyi Cai Claudius T. Tewari Olivia Garcia Marcos Espitia-Alvarez Jonathan P. How 46 5 0 02 May 2024
Differentiable Particles for General-Purpose Deformable Object Manipulation Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li David Hsu 46 6 0 02 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic Koushil Sreenath OffRL 83 27 0 30 Apr 2024
MRIC: Model-Based Reinforcement-Imitation Learning with Mixture-of-Codebooks for Autonomous Driving Simulation Baotian He Yibing Li 47 0 0 29 Apr 2024
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey Dingzhe Li Yixiang Jin A. Yong Hongze Yu Jun Shi Xiaoshuai Hao Peng Hao Huaping Liu Gang Hua Bin Fang AI4CE LM&Ro 72 13 0 28 Apr 2024
Efficient Bi-manipulation using RGBD Multi-model Fusion based on Attention Mechanism Jian Shen Jiaxin Huang Zhigong Song 26 0 0 27 Apr 2024
Learning Visuotactile Skills with Two Multifingered Hands Toru Lin Yu Zhang Qiyang Li Haozhi Qi Brent Yi Sergey Levine Jitendra Malik 50 54 0 25 Apr 2024
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand Davide Liconti Yasunori Toshimitsu Robert K. Katzschmann 54 3 0 25 Apr 2024
AFU: Actor-Free critic Updates in off-policy RL for continuous control Nicolas Perrin-Gilbert OffRL 32 0 0 24 Apr 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 37 2 0 24 Apr 2024
ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos Zerui Chen Shizhe Chen Cordelia Schmid Ivan Laptev Cordelia Schmid 35 13 0 24 Apr 2024
Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning Xiao Liu Yifan Zhou F. Weigend Shubham D. Sonawani Shuhei Ikemoto H. B. Amor 42 1 0 18 Apr 2024
RoboDreamer: Learning Compositional World Models for Robot Imagination Siyuan Zhou Yilun Du Jiaben Chen Yandong Li Dit-Yan Yeung Chuang Gan VGen LM&Ro 85 32 0 18 Apr 2024
RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective Chenxi Wang Hongjie Fang Haoshu Fang Cewu Lu VGen 37 20 0 18 Apr 2024
An Overview of Diffusion Models: Applications, Guided Generation, Statistical Rates and Optimization Minshuo Chen Song Mei Jianqing Fan Mengdi Wang VLM MedIm DiffM 37 49 0 11 Apr 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner Chenxi Liu 37 3 0 11 Apr 2024
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks Kaylee Burns Ajinkya Jain Keegan Go Fei Xia Michael Stark S. Schaal Karol Hausman 40 5 0 09 Apr 2024
RoboMP $^2$ : A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models Qi Lv Haochuan Li Xiang Deng Rui Shao Michael Yu Wang Liqiang Nie LRM LM&Ro 42 1 0 07 Apr 2024
Regularized Conditional Diffusion Model for Multi-Task Preference Alignment Xudong Yu Chenjia Bai Haoran He Changhong Wang Xuelong Li 40 6 0 07 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly Lars Ankile Anthony Simeonov Idan Shenfeld Pulkit Agrawal LM&Ro 42 15 0 04 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 46 22 0 03 Apr 2024
APEX: Ambidextrous Dual-Arm Robotic Manipulation Using Collision-Free Generative Diffusion Models Apan Dastider Hao Fang Mingjie Lin 52 2 0 02 Apr 2024
Confidence-aware Reward Optimization for Fine-tuning Text-to-Image Models Kyuyoung Kim Jongheon Jeong Minyong An Mohammad Ghavamzadeh Krishnamurthy Dvijotham Jinwoo Shin Kimin Lee EGVM 42 6 0 02 Apr 2024
Versatile Navigation under Partial Observability via Value-guided Diffusion Policy Gengyu Zhang Hao Tang Yan Yan 33 2 0 01 Apr 2024
InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interaction Sirui Xu Ziyin Wang Yu-Xiong Wang Liangyan Gui 45 25 0 28 Mar 2024
Human-compatible driving partners through data-regularized self-play reinforcement learning Daphne Cornelisse Eugene Vinitsky 35 6 0 28 Mar 2024
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo Edward Johns 49 32 0 28 Mar 2024
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation Chongkai Gao Zhengrong Xue Shuying Deng Tianhai Liang Siqi Yang Lin Shao Huazhe Xu 3DPC 42 10 0 28 Mar 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic Kashyap Chitta D. Dauner Andreas Geiger 3DGS 54 5 0 26 Mar 2024
A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models Nils Ingelhag Jesper Munkeby Jonne van Haastregt Anastasia Varava Michael C. Welle Danica Kragic 47 5 0 25 Mar 2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics Qiaojun Yu Ce Hao Junbo Wang Wenhai Liu Liu Liu Yao Mu Yang You Hengxu Yan Cewu Lu 44 5 0 20 Mar 2024
A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation Masashi Okada Mayumi Komatsu Tadahiro Taniguchi DiffM 40 0 0 20 Mar 2024
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation Zixuan Huang Yating Lin Fan Yang Dmitry Berenson 43 4 0 19 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Jun Yamada Shaohong Zhong Jack Collins Ingmar Posner 50 4 0 19 Mar 2024
Policy Bifurcation in Safe Reinforcement Learning Wenjun Zou Yao Lyu Jie Li Yujie Yang Shengbo Eben Li Jingliang Duan Xianyuan Zhan Jingjing Liu Yaqin Zhang Keqiang Li 44 1 0 19 Mar 2024
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy Tianhao Wu Yunchong Gan Mingdong Wu Jingbo Cheng Yaodong Yang Yixin Zhu Hao Dong 54 0 0 19 Mar 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 61 182 0 19 Mar 2024
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight Jiaxu Xing Angel Romero L. Bauersfeld Davide Scaramuzza 48 14 0 18 Mar 2024
Diffusion-Reinforcement Learning Hierarchical Motion Planning in Multi-agent Adversarial Games Zixuan Wu Sean Ye Manisha Natarajan Matthew C. Gombolay 83 6 0 16 Mar 2024
Riemannian Flow Matching Policy for Robot Motion Learning Max Braun Noémie Jaquier Leonel Rozo Tamim Asfour 44 11 0 15 Mar 2024