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
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection Xinghao Zhu Devesh K. Jha Diego Romeres Lingfeng Sun Masayoshi Tomizuka Anoop Cherian 32 5 0 17 Dec 2023
Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects Paul Maria Scheikl Nicolas Schreiber Christoph Haas Niklas Freymuth Gerhard Neumann Rudolf Lioutikov F. Mathis-Ullrich 23 35 0 15 Dec 2023
Proprioceptive State Estimation for Amphibious Tactile Sensing Ning Guo Xudong Han Shuqiao Zhong Zhiyuan Zhou Jian Lin Jian S. Dai Fang Wan Chaoyang Song 26 2 0 15 Dec 2023
World Models via Policy-Guided Trajectory Diffusion Marc Rigter Jun Yamada Ingmar Posner 34 19 0 13 Dec 2023
Robo360: A 3D Omnispective Multi-Material Robotic Manipulation Dataset Litian Liang Liuyu Bian Caiwei Xiao Jialin Zhang Linghao Chen Isabella Liu Fanbo Xiang Zhiao Huang Hao Su 28 3 0 09 Dec 2023
PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play Lili Chen Shikhar Bahl Deepak Pathak 22 41 0 07 Dec 2023
FoMo Rewards: Can we cast foundation models as reward functions? Ekdeep Singh Lubana Johann Brehmer P. D. Haan Taco S. Cohen OffRL LRM 48 2 0 06 Dec 2023
Diffusion Illusions: Hiding Images in Plain Sight R. Burgert Xiang Li Abe Leite Kanchana Ranasinghe Michael S. Ryoo 55 17 0 06 Dec 2023
Diffused Task-Agnostic Milestone Planner Mineui Hong Minjae Kang Songhwai Oh 21 6 0 06 Dec 2023
Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertainty Cheng-Fu Yang Haoyang Xu Te-Lin Wu Xiaofeng Gao Kai-Wei Chang Feng Gao DiffM 38 8 0 02 Dec 2023
DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion Models Tsun-Hsuan Wang Juntian Zheng Pingchuan Ma Yilun Du Byungchul Kim Andrew Spielberg Josh Tenenbaum Chuang Gan Daniela Rus AI4CE 32 24 0 28 Nov 2023
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 33 77 0 27 Nov 2023
MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction Nathaniel Simon Anirudha Majumdar 39 2 0 23 Nov 2023
Guided Flows for Generative Modeling and Decision Making Qinqing Zheng Matt Le Neta Shaul Y. Lipman Aditya Grover Ricky T. Q. Chen 26 35 0 22 Nov 2023
Using Human Feedback to Fine-tune Diffusion Models without Any Reward Model Kai Yang Jian Tao Jiafei Lyu Chunjiang Ge Jiaxin Chen Qimai Li Weihan Shen Xiaolong Zhu Xiu Li EGVM 23 89 0 22 Nov 2023
Generalizable Imitation Learning Through Pre-Trained Representations Wei-Di Chang F. Hogan D. Meger Gregory Dudek Gregory Dudek 41 1 0 15 Nov 2023
Imitation Bootstrapped Reinforcement Learning Hengyuan Hu Suvir Mirchandani Dorsa Sadigh 41 24 0 03 Nov 2023
LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery Weikang Wan Yifeng Zhu Rutav Shah Yuke Zhu SSL LM&Ro VLM CLL 36 23 0 03 Nov 2023
On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration Kiran Doshi Yijiang Huang Stelian Coros 27 6 0 03 Nov 2023
Constrained-Context Conditional Diffusion Models for Imitation Learning Vaibhav Saxena Yotto Koga Danfei Xu 28 3 0 02 Nov 2023
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding Han Xue Yutong Li Wenqiang Xu Huanyu Li Dongzhe Zheng Cewu Lu 28 14 0 02 Nov 2023
Diffusion Models for Reinforcement Learning: A Survey Zhengbang Zhu Hanye Zhao Haoran He Yichao Zhong Shenyu Zhang Haoquan Guo Tingting Chen Weinan Zhang 43 60 0 02 Nov 2023
Large Trajectory Models are Scalable Motion Predictors and Planners Q. Sun Shiduo Zhang Danjiao Ma Jingzhe Shi Derun Li Simian Luo Yu Wang Ningyi Xu Guangzhi Cao Hang Zhao 29 13 0 30 Oct 2023
Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Plans Kyowoon Lee Seongun Kim Jaesik Choi DiffM 32 9 0 30 Oct 2023
Free from Bellman Completeness: Trajectory Stitching via Model-based Return-conditioned Supervised Learning Zhaoyi Zhou Chuning Zhu Runlong Zhou Qiwen Cui Abhishek Gupta S. S. Du OffRL 40 8 0 30 Oct 2023
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations Ajay Mandlekar Soroush Nasiriany Bowen Wen Iretiayo Akinola Yashraj S. Narang Linxi Fan Yuke Zhu Dieter Fox LM&Ro 90 102 0 26 Oct 2023
MMP++: Motion Manifold Primitives with Parametric Curve Models Yonghyeon Lee 34 4 0 26 Oct 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 24 44 0 22 Oct 2023
Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning Sachit Kuhar Shuo Cheng Shivang Chopra Matthew Bronars Danfei Xu 52 9 0 22 Oct 2023
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States Zidan Wang Takeru Oba Takuma Yoneda Rui Shen Matthew R. Walter Bradly C. Stadie DiffM 32 9 0 21 Oct 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 35 4 0 18 Oct 2023
Butterfly Effects of SGD Noise: Error Amplification in Behavior Cloning and Autoregression Adam Block Dylan J. Foster Akshay Krishnamurthy Max Simchowitz Cyril Zhang 33 4 0 17 Oct 2023
Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models Kevin Black Mitsuhiko Nakamoto P. Atreya Homer Walke Chelsea Finn Aviral Kumar Sergey Levine DiffM LM&Ro 35 132 0 16 Oct 2023
Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning Chahyon Ku Carl Winge Ryan Diaz Wentao Yuan Karthik Desingh 29 3 0 15 Oct 2023
Adaptive Online Replanning with Diffusion Models Siyuan Zhou Yilun Du Shun Zhang Mengdi Xu Yikang Shen Wei Xiao Dit-Yan Yeung Chuang Gan 30 22 0 14 Oct 2023
Compositional Abilities Emerge Multiplicatively: Exploring Diffusion Models on a Synthetic Task Maya Okawa Ekdeep Singh Lubana Robert P. Dick Hidenori Tanaka CoGe DiffM 39 44 0 13 Oct 2023
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models Utkarsh Aashu Mishra Shangjie Xue Yongxin Chen Danfei Xu LRM 36 66 0 13 Oct 2023
Learning to Act from Actionless Videos through Dense Correspondences Po-Chen Ko Jiayuan Mao Yilun Du Shao-Hua Sun Josh Tenenbaum 30 76 0 12 Oct 2023
Interpretable Diffusion via Information Decomposition Xianghao Kong Ollie Liu Han Li Dani Yogatama Greg Ver Steeg 24 21 0 12 Oct 2023
NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration A. Sridhar Dhruv Shah Catherine Glossop Sergey Levine 31 114 0 11 Oct 2023
DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots Jianwei Liu Maria Stamatopoulou Dimitrios Kanoulas 10 17 0 11 Oct 2023
Imitation Learning from Purified Demonstration Yunke Wang Minjing Dong Bo Du Chang Xu 31 1 0 11 Oct 2023
Boosting Continuous Control with Consistency Policy Yuhui Chen Haoran Li Dongbin Zhao OffRL 41 20 0 10 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 44 8 0 09 Oct 2023
Toward a Plug-and-Play Vision-Based Grasping Module for Robotics Amitayush Thakur J. Huber Yeming Wen Stéphane Doncieux 28 3 0 06 Oct 2023
Aligning Text-to-Image Diffusion Models with Reward Backpropagation Mihir Prabhudesai Anirudh Goyal Deepak Pathak Katerina Fragkiadaki 37 111 0 05 Oct 2023
Human-oriented Representation Learning for Robotic Manipulation Mingxiao Huo Mingyu Ding Chenfeng Xu Thomas Tian Xinghao Zhu Yao Mu Lingfeng Sun Masayoshi Tomizuka Wei Zhan SSL 50 12 0 04 Oct 2023
Active-Perceptive Motion Generation for Mobile Manipulation Snehal Jauhri Sophie Lueth Georgia Chalvatzaki 32 6 0 30 Sep 2023
Consistency Models as a Rich and Efficient Policy Class for Reinforcement Learning Daoce Wang Chi Jin OffRL DiffM 27 25 0 29 Sep 2023
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models Yixuan Huang Jialin Yuan Chanho Kim Pupul Pradhan Bryan Chen Fuxin Li Tucker Hermans 40 7 0 26 Sep 2023