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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
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation Eugene Teoh Sumit Patidar Xiao Ma Stephen James 91 6 0 10 Jul 2024
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark Nikita Chernyadev Nicholas Backshall Xiao Ma Yunfan Lu Younggyo Seo Stephen James 87 15 0 10 Jul 2024
RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios Liming Zheng Feng Yan Fanfan Liu Chengjian Feng Zhuoliang Kang Lin Ma 140 2 0 09 Jul 2024
Potential Based Diffusion Motion Planning Yunhao Luo Chen Sun Joshua B. Tenenbaum Yilun Du DiffM 98 19 0 08 Jul 2024
Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals Moritz Reuss Ömer Erdinç Yagmurlu Fabian Wenzel Rudolf Lioutikov OffRL 111 52 0 08 Jul 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang Junjie Ye Haoran Geng Jiageng Mao Congyue Deng Leonidas Guibas He Wang Yue Wang LM&Ro 117 26 0 05 Jul 2024
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation I-Chun Arthur Liu Sicheng He Daniel Seita Gaurav Sukhatme LM&Ro 93 13 0 04 Jul 2024
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning Runyu Ding Yuzhe Qin Jiyue Zhu Chengzhe Jia Shiqi Yang Ruihan Yang Xiaojuan Qi Xiaolong Wang 93 60 0 03 Jul 2024
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance Wenhao Yu Jie Peng Huanyu Yang Junrui Zhang YiFan Duan Jianmin Ji Yanyong Zhang 119 14 0 02 Jul 2024
Equivariant Diffusion Policy Dian Wang Stephen M. Hart David Surovik Tarik Kelestemur Haojie Huang Haibo Zhao Mark Yeatman Jiuguang Wang Robin Walters Robert Platt DiffM 135 30 0 01 Jul 2024
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang Yifei Zhang Mingxiao Huo Ran Tian Xiang Zhang ... Chenfeng Xu Pengliang Ji Wei Zhan Mingyu Ding Masayoshi Tomizuka MoE 128 23 0 01 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 158 119 0 01 Jul 2024
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning Jingyun Yang Zi-ang Cao Congyue Deng Rika Antonova Shuran Song Jeannette Bohg DiffM 118 38 0 01 Jul 2024
Residual-MPPI: Online Policy Customization for Continuous Control Pengcheng Wang Chenran Li Catherine Weaver Kenta Kawamoto Masayoshi Tomizuka Chen Tang Wei Zhan OffRL 161 3 0 01 Jul 2024
Diffusion-BBO: Diffusion-Based Inverse Modeling for Online Black-Box Optimization D. Wu Nikki Lijing Kuang Ruijia Niu Yi-An Ma Rose Yu 105 0 0 30 Jun 2024
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation Hongyi Chen Abulikemu Abuduweili Aviral Agrawal Yunhai Han Harish Ravichandar Changliu Liu Jeffrey Ichnowski 122 6 0 29 Jun 2024
Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition Shengcheng Luo Quanquan Peng Jun Lv Kaiwen Hong Katherine Rose Driggs-Campbell Cewu Lu Yong-Lu Li 103 4 0 29 Jun 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 84 1 0 29 Jun 2024
DISCO: Efficient Diffusion Solver for Large-Scale Combinatorial Optimization Problems Kexiong Yu Hang Zhao Yuhang Huang Renjiao Yi Kai Xu Chenyang Zhu 111 1 0 28 Jun 2024
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data Zeyi Liu Cheng Chi Eric A. Cousineau Naveen Kuppuswamy Benjamin Burchfiel Shuran Song VGen 92 33 0 27 Jun 2024
From Pixels to Torques with Linear Feedback Jeong Hun Lee Sam Schoedel Aditya Bhardwaj Zachary Manchester 72 0 0 26 Jun 2024
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation Junbang Liang Ruoshi Liu Ege Ozguroglu Sruthi Sudhakar Achal Dave P. Tokmakov Shuran Song Carl Vondrick VGen 94 29 0 24 Jun 2024
Provable Statistical Rates for Consistency Diffusion Models Zehao Dou Minshuo Chen Mengdi Wang Zhuoran Yang DiffM 102 3 0 23 Jun 2024
Diffusion Spectral Representation for Reinforcement Learning Dmitry Shribak Chen-Xiao Gao Yitong Li Chenjun Xiao Bo Dai DiffM 113 5 0 23 Jun 2024
To Err is Robotic: Rapid Value-Based Trial-and-Error during Deployment Maximilian Du Alexander Khazatsky Tobias Gerstenberg Chelsea Finn 111 1 0 22 Jun 2024
Low Fidelity Visuo-Tactile Pretraining Improves Vision-Only Manipulation Performance Selam Gano Abraham George A. Farimani OnRL 117 1 0 21 Jun 2024
Learning Efficient and Robust Language-conditioned Manipulation using Textual-Visual Relevancy and Equivariant Language Mapping Mingxi Jia Haojie Huang Zhewen Zhang Chenghao Wang Linfeng Zhao Dian Wang J. Liu Robin Walters Robert Platt Stefanie Tellex LM&Ro 109 6 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 154 7 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 79 4 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 106 9 0 18 Jun 2024
Autoregressive Image Generation without Vector Quantization Tianhong Li Yonglong Tian He Li Mingyang Deng Kaiming He DiffM 174 238 0 17 Jun 2024
FetchBench: A Simulation Benchmark for Robot Fetching Beining Han Meenal Parakh Derek Geng Jack A. Defay Luyang Gan Jia Deng 93 3 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 92 8 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 110 13 0 17 Jun 2024
Learning Iterative Reasoning through Energy Diffusion Yilun Du Jiayuan Mao Joshua B. Tenenbaum LRM PINN 99 9 0 17 Jun 2024
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation Tong Zhang Yingdong Hu Jiacheng You Yang Gao 92 25 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 125 111 0 15 Jun 2024
BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation Dongjie Yu Hang Xu Yizhou Chen Yi Ren Jia Pan 97 4 0 14 Jun 2024
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes Gergely Sóti Xi Huang C. Wurll Gergely Sóti 75 0 0 14 Jun 2024
Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting Ce Hao Kelvin Lin Siyuan Luo Harold Soh 96 5 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 106 17 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 102 15 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 296 535 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 110 91 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 95 57 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 103 11 0 12 Jun 2024
Scaling Manipulation Learning with Visual Kinematic Chain Prediction Xinyu Zhang Yuhan Liu Haonan Chang Abdeslam Boularias 97 1 0 12 Jun 2024
BAKU: An Efficient Transformer for Multi-Task Policy Learning Siddhant Haldar Zhuoran Peng Lerrel Pinto OffRL 116 43 0 11 Jun 2024
Flow map matching with stochastic interpolants: A mathematical framework for consistency models Nicholas M. Boffi M. S. Albergo Eric Vanden-Eijnden 66 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 78 4 0 10 Jun 2024