Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

50 / 806 papers shown

Title
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 55 37 0 15 Mar 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy Alison Bartsch Arvind Car Charlotte Avra A. Farimani 46 5 0 15 Mar 2024
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation Jing Liang Amirreza Payandeh Daeun Song Xuesu Xiao Dinesh Manocha 34 6 0 14 Mar 2024
InfoCon: Concept Discovery with Generative and Discriminative Informativeness Ruizhe Liu Qian Luo Yanchao Yang 40 2 0 14 Mar 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Güzey Siddhant Haldar Soumith Chintala Lerrel Pinto 39 50 0 12 Mar 2024
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang Haochen Shi Weizhuo Wang Ruohan Zhang Fei-Fei Li Karen Liu 55 104 0 12 Mar 2024
Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts Onur Celik Aleksandar Taranovic Gerhard Neumann 36 7 0 11 Mar 2024
Speeding up 6-DoF Grasp Sampling with Quality-Diversity J. Huber Franccois Hélénon Mathilde Kappel Elie Chelly Mahdi Khoramshahi F. B. Amar Stéphane Doncieux 36 3 0 10 Mar 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control Jiange Yang Bei Liu Jianlong Fu Bocheng Pan Gangshan Wu Limin Wang 42 10 0 08 Mar 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao Annie Xie Ted Xiao Chelsea Finn Dorsa Sadigh 29 19 0 08 Mar 2024
DNAct: Diffusion Guided Multi-Task 3D Policy Learning Ge Yan Yueh-hua Wu Xiaolong Wang VGen 37 20 0 07 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 45 78 0 06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation M. Torné Anthony Simeonov Zechu Li April Chan Tao Chen Abhishek Gupta Pulkit Agrawal 50 57 0 06 Mar 2024
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation Xiao Ma Sumit Patidar Iain Haughton Stephen James 49 49 0 06 Mar 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 35 65 0 05 Mar 2024
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning Tian Gao Soroush Nasiriany Huihan Liu Quantao Yang Yuke Zhu 29 8 0 01 Mar 2024
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Yang Catherine Glossop Arjun Bhorkar Dhruv Shah Quan Vuong Chelsea Finn Dorsa Sadigh Sergey Levine 44 42 0 29 Feb 2024
Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting L. Chen Kush Hari K. Dharmarajan Chenfeng Xu Quan Vuong Ken Goldberg 52 20 0 29 Feb 2024
MOSAIC: A Modular System for Assistive and Interactive Cooking Huaxiaoyue Wang Kushal Kedia Juntao Ren Rahma Abdullah Atiksh Bhardwaj ... Maximus Adrian Pace Yash Sharma Xiangwan Sun Neha Sunkara Sanjiban Choudhury 43 12 0 29 Feb 2024
Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning Xiaoyu Zhang Matthew Chang Pranav Kumar Saurabh Gupta DiffM OffRL 51 14 0 27 Feb 2024
Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion Kaiqi Chen Eugene Lim Kelvin Lin Yiyang Chen Harold Soh DiffM 29 10 0 25 Feb 2024
Practice Makes Perfect: Planning to Learn Skill Parameter Policies Nishanth Kumar Tom Silver Willie McClinton Linfeng Zhao Stephen Proulx Tomás Lozano-Pérez L. Kaelbling Jennifer Barry 59 18 0 22 Feb 2024
Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations Xiaogang Jia Denis Blessing Xinkai Jiang Moritz Reuss Atalay Donat Rudolf Lioutikov Gerhard Neumann 47 20 0 22 Feb 2024
DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation Takuya Ikeda Sergey Zakharov Tianyi Ko Muhammad Zubair Irshad Robert Lee Katherine Liu Rares Andrei Ambrus Koichi Nishiwaki DiffM 31 12 0 20 Feb 2024
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations Tsung-Wei Ke N. Gkanatsios Katerina Fragkiadaki VGen 39 108 0 16 Feb 2024
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots Cheng Chi Zhenjia Xu Chuer Pan Eric A. Cousineau Benjamin Burchfiel Siyuan Feng Russ Tedrake Shuran Song 17 190 0 15 Feb 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 58 21 0 15 Feb 2024
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation Wilbert Pumacay Ishika Singh Jiafei Duan Ranjay Krishna Jesse Thomason Dieter Fox 29 39 0 13 Feb 2024
Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following Brian Yang Huangyuan Su N. Gkanatsios Tsung-Wei Ke Ayush Jain Jeff Schneider Katerina Fragkiadaki DiffM 37 21 0 09 Feb 2024
Real-World Robot Applications of Foundation Models: A Review Kento Kawaharazuka T. Matsushima Andrew Gambardella Jiaxian Guo Chris Paxton Andy Zeng OffRL VLM LM&Ro 51 45 0 08 Feb 2024
DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning Weikang Wan Ziyu Wang Zackory M. Erickson David Held David Held 34 4 0 08 Feb 2024
AdaFlow: Imitation Learning with Variance-Adaptive Flow-Based Policies Xixi Hu Bo Liu Xingchao Liu Qiang Liu 39 11 0 06 Feb 2024
Diffusion World Model: Future Modeling Beyond Step-by-Step Rollout for Offline Reinforcement Learning Zihan Ding Amy Zhang Yuandong Tian Qinqing Zheng OffRL 47 17 0 05 Feb 2024
DexDiffuser: Generating Dexterous Grasps with Diffusion Models Zehang Weng Haofei Lu Danica Kragic Jens Lundell 46 31 0 05 Feb 2024
Contrastive Diffuser: Planning Towards High Return States via Contrastive Learning Yixiang Shan Zhengbang Zhu Ting Long Qifan Liang Yi-Ju Chang Weinan Zhang Liang Yin OffRL 42 1 0 05 Feb 2024
PoCo: Policy Composition from and for Heterogeneous Robot Learning Lirui Wang Jialiang Zhao Yilun Du Edward H. Adelson Russ Tedrake 79 28 0 04 Feb 2024
Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning Haoyi Zhu Yating Wang Di Huang Weicai Ye Wanli Ouyang Tong He SSL 3DPC 51 20 0 04 Feb 2024
Denoising Diffusion-Based Control of Nonlinear Systems Karthik Elamvazhuthi D. Gadginmath Fabio Pasqualetti DiffM AI4CE 30 2 0 03 Feb 2024
LeTO: Learning Constrained Visuomotor Policy with Differentiable Trajectory Optimization Zhengtong Xu Yu She 27 2 0 30 Jan 2024
DiffuserLite: Towards Real-time Diffusion Planning Zibin Dong Jianye Hao Yifu Yuan Fei Ni Yitian Wang Pengyi Li Yan Zheng 83 15 0 27 Jan 2024
General Flow as Foundation Affordance for Scalable Robot Learning Chengbo Yuan Chuan Wen Tong Zhang Yang Gao AI4CE 21 31 0 21 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 37 27 0 16 Jan 2024
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning Guoxiang Zhao Devesh K. Jha Yebin Wang Minghui Zhu 28 0 0 05 Jan 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 116 289 0 04 Jan 2024
Any-point Trajectory Modeling for Policy Learning Chuan Wen Xingyu Lin John So Kai-xiang Chen Qi Dou Yang Gao Pieter Abbeel PINN VGen 44 81 0 28 Dec 2023
InsActor: Instruction-driven Physics-based Characters Jiawei Ren Mingyuan Zhang Cunjun Yu Xiao Ma Liang Pan Ziwei Liu VGen 31 17 0 28 Dec 2023
Diffusion Reward: Learning Rewards via Conditional Video Diffusion Tao Huang Guangqi Jiang Yanjie Ze Huazhe Xu VGen 39 22 0 21 Dec 2023
Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation Hongtao Wu Ya Jing Chi-Hou Cheang Guangzeng Chen Jiafeng Xu Xinghang Li Minghuan Liu Hang Li Tao Kong 35 95 0 20 Dec 2023
LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments Federico Ceola Lorenzo Natale Niko Sünderhauf Krishan Rana LM&Ro 37 1 0 19 Dec 2023
SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution Zhixuan Liang Yao Mu Hengbo Ma Masayoshi Tomizuka Mingyu Ding Ping Luo 33 37 0 18 Dec 2023