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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
Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning Xiao Liu Yifan Zhou F. Weigend Shubham D. Sonawani Shuhei Ikemoto H. B. Amor 67 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 150 45 0 18 Apr 2024
RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective Chenxi Wang Hongjie Fang Haoshu Fang Cewu Lu VGen 93 22 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 124 59 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 76 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 83 6 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 116 2 0 07 Apr 2024
Regularized Conditional Diffusion Model for Multi-Task Preference Alignment Xudong Yu Chenjia Bai Haoran He Changhong Wang Xuelong Li 122 6 0 07 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly Lars Ankile Anthony Simeonov Idan Shenfeld Pulkit Agrawal LM&Ro 123 19 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 141 24 0 03 Apr 2024
APEX: Ambidextrous Dual-Arm Robotic Manipulation Using Collision-Free Generative Diffusion Models Apan Dastider Hao Fang Mingjie Lin 88 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 81 6 0 02 Apr 2024
Versatile Navigation under Partial Observability via Value-guided Diffusion Policy Gengyu Zhang Hao Tang Yan Yan 70 2 0 01 Apr 2024
InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interaction Sirui Xu Ziyin Wang Yu Wang Liangyan Gui 107 31 0 28 Mar 2024
Human-compatible driving partners through data-regularized self-play reinforcement learning Daphne Cornelisse Eugene Vinitsky 87 6 0 28 Mar 2024
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo Edward Johns 118 37 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 75 13 0 28 Mar 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic Kashyap Chitta D. Dauner Andreas Geiger 3DGS 92 9 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 87 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 90 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 69 1 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 73 5 0 19 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Jun Yamada Shaohong Zhong Jack Collins Ingmar Posner 78 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 141 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 89 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 259 226 0 19 Mar 2024
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight Jiaxu Xing Angel Romero L. Bauersfeld Davide Scaramuzza 100 16 0 18 Mar 2024
Diffusion-Reinforcement Learning Hierarchical Motion Planning in Multi-agent Adversarial Games Zixuan Wu Sean Ye Manisha Natarajan Matthew C. Gombolay 150 6 0 16 Mar 2024
Riemannian Flow Matching Policy for Robot Motion Learning Max Braun Noémie Jaquier Leonel Rozo Tamim Asfour 109 17 0 15 Mar 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 133 48 0 15 Mar 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy Alison Bartsch Arvind Car Charlotte Avra A. Farimani 85 6 0 15 Mar 2024
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation Jing Liang Amirreza Payandeh Daeun Song Xuesu Xiao Dinesh Manocha 108 7 0 14 Mar 2024
InfoCon: Concept Discovery with Generative and Discriminative Informativeness Ruizhe Liu Qian Luo Yanchao Yang 104 3 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 99 63 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 134 124 0 12 Mar 2024
Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts Onur Celik Aleksandar Taranovic Gerhard Neumann 93 10 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 104 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 117 12 0 08 Mar 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao Annie Xie Ted Xiao Chelsea Finn Dorsa Sadigh 118 21 0 08 Mar 2024
DNAct: Diffusion Guided Multi-Task 3D Policy Learning Ge Yan Yueh-hua Wu Xiaolong Wang VGen 120 22 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 188 95 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 112 70 0 06 Mar 2024
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation Xiao Ma Sumit Patidar Iain Haughton Stephen James 103 57 0 06 Mar 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 123 80 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 117 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 94 46 0 29 Feb 2024
Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting Lawrence Yunliang Chen Kush Hari K. Dharmarajan Chenfeng Xu Quan Vuong Ken Goldberg 150 23 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 98 14 0 29 Feb 2024
Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning Xiaoyu Zhang Matthew Chang Pranav Kumar Saurabh Gupta DiffM OffRL 119 15 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 101 11 0 25 Feb 2024