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
MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation Zhenyu Wu Yuheng Zhou Xiuwei Xu Zehua Wang Haibin Yan 49 2 0 17 Mar 2025
PANDORA: Diffusion Policy Learning for Dexterous Robotic Piano Playing Yanjia Huang Renjie Li Zhengzhong Tu VGen 60 0 0 17 Mar 2025
HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learning Wensheng Wang Ning Tan LM&Ro OffRL 60 0 0 17 Mar 2025
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition Jiahang Cao Qiang Zhang Hanzhong Guo Jiaxu Wang Hao-Ran Cheng Renjing Xu DiffM 60 0 0 16 Mar 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 90 0 0 16 Mar 2025
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation Tongxuan Tian Haoyang Li Bo Ai Xiaodi Yuan Zhiao Huang H. Su DiffM AI4CE 73 3 0 15 Mar 2025
Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training Zhenxin Li Shihao Wang Shiyi Lan Zhiding Yu Zuxuan Wu Jose M. Alvarez 54 2 0 15 Mar 2025
Controllable Latent Diffusion for Traffic Simulation Yizhuo Xiao Mustafa Suphi Erden Cheng Wang 49 0 0 14 Mar 2025
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control Xiaoyu Huang Takara Truong Yunbo Zhang Fangzhou Yu Jean-Pierre Sleiman Jessica Hodgins K. Sreenath Farbod Farshidian DiffM 65 1 0 14 Mar 2025
Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning Siyuan Huang Yue Liao Siyuan Feng Shu Jiang Si Liu Hongsheng Li Maoqing Yao Guanghui Ren AAML 63 1 0 14 Mar 2025
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder Asher Hancock Apurva Badithela Emma Dixon Patrick Miller Rares Andrei Ambrus Anirudha Majumdar Masha Itkina Haruki Nishimura OffRL 82 1 0 14 Mar 2025
Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework Jian-Jian Jiang Xiao-Ming Wu Yi-Xiang He Ling-an Zeng Yi-Lin Wei Dandan Zhang Wei-Shi Zheng 48 2 0 13 Mar 2025
LUMOS: Language-Conditioned Imitation Learning with World Models Iman Nematollahi Branton DeMoss Akshay L Chandra Nick Hawes Wolfram Burgard Ingmar Posner OffRL 43 0 0 13 Mar 2025
CoStoDet-DDPM: Collaborative Training of Stochastic and Deterministic Models Improves Surgical Workflow Anticipation and Recognition Kaixiang Yang Xin Li Qiang Li Zhiwei Wang 48 0 0 13 Mar 2025
HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model Jiaming Liu Hao Chen Pengju An Zhuoyang Liu Renrui Zhang ... Chengkai Hou Mengdi Zhao KC alex Zhou Pheng-Ann Heng Shanghang Zhang 72 8 0 13 Mar 2025
AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI Haiqin Cui Yifu Yuan Yan Zheng Jianye Hao 173 0 0 13 Mar 2025
Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulation Qi Lv Hao Li Xiang Deng Rui Shao Yinchuan Li Haifeng Zhang Longxiang Gao Michael Yu Wang Liqiang Nie 46 0 0 13 Mar 2025
Enhanced View Planning for Robotic Harvesting: Tackling Occlusions with Imitation Learning Lun Li Hamidreza Kasaei 45 0 0 13 Mar 2025
SE(3)-Equivariant Robot Learning and Control: A Tutorial Survey Joohwan Seo Soochul Yoo Junwoo Chang Hyunseok An Hyunwoo Ryu Soomi Lee Arvind Kruthiventy Jongeun Choi R. Horowitz 71 2 0 12 Mar 2025
HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots Qiang Zhang Zhang Zhang Wei Cui Jingkai Sun Jiahang Cao ... Hao-Ran Cheng Yujie Chen Liwen Wang Jian Tang Renjing Xu 50 3 0 12 Mar 2025
Elastic Motion Policy: An Adaptive Dynamical System for Robust and Efficient One-Shot Imitation Learning Tianyu Li Sunan Sun Shubhodeep Shiv Aditya Nadia Figueroa 58 0 0 11 Mar 2025
KiteRunner: Language-Driven Cooperative Local-Global Navigation Policy with UAV Mapping in Outdoor Environments Shibo Huang Chenfan Shi Jian Yang Hanlin Dong Jinpeng Mi ... J. Zhang Miao Ding Peidong Liang Xiong You Xian Wei 54 0 0 11 Mar 2025
TLA: Tactile-Language-Action Model for Contact-Rich Manipulation Peng Hao Chaofan Zhang Dingzhe Li Xiaoge Cao Xiaoshuai Hao Shaowei Cui Shuo Wang LM&Ro 52 7 0 11 Mar 2025
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu Tony Nguyen Emma Dixon Christopher Rodriguez Patrick Miller Robert Lee Paarth Shah Rares Andrei Ambrus Haruki Nishimura Masha Itkina OffRL 89 2 0 11 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation Rujia Yang Geng Chen Chuan Wen Yang Gao LM&Ro 81 1 0 11 Mar 2025
How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learning Haozhuo Li Yuchen Cui Dorsa Sadigh 39 1 0 10 Mar 2025
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation Hanzhi Chen Boyang Sun Anran Zhang Marc Pollefeys Stefan Leutenegger LM&Ro 75 0 0 10 Mar 2025
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation Philipp Wu Yide Shentu Qiayuan Liao Ding Jin Menglong Guo K. Sreenath Xingyu Lin Pieter Abbeel 55 0 0 10 Mar 2025
PointVLA: Injecting the 3D World into Vision-Language-Action Models Chengmeng Li Junjie Wen Yan Peng Yaxin Peng Feifei Feng Yichen Zhu 3DPC 73 3 0 10 Mar 2025
iManip: Skill-Incremental Learning for Robotic Manipulation Zexin Zheng Jia-Feng Cai Xiao-Ming Wu Yi-Lin Wei Yu-Ming Tang Wei-Shi Zheng CLL 54 0 0 10 Mar 2025
Denoising Hamiltonian Network for Physical Reasoning Congyue Deng Brandon Yushan Feng Cecilia Garraffo Alan Garbarz Robin Walters William T. Freeman Leonidas J. Guibas Kaiming He AI4CE 68 0 0 10 Mar 2025
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions Daniel Morton Marco Pavone 57 2 0 09 Mar 2025
GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving Zebin Xing Xinsong Zhang Yang Hu Bo Jiang Tong He Qian Zhang Xiaoxiao Long Wei Yin 64 3 0 07 Mar 2025
Discrete Contrastive Learning for Diffusion Policies in Autonomous Driving Kalle Kujanpää Daulet Baimukashev Farzeen Munir Shoaib Azam Tomasz Piotr Kucner Joni Pajarinen Ville Kyrki 43 0 0 07 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 67 5 0 07 Mar 2025
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning Xi Ye Rui Heng Yang Jun Jin Y. K. Li Amir Rasouli 53 0 0 06 Mar 2025
VLA Model-Expert Collaboration for Bi-directional Manipulation Learning Tian-Yu Xiang Ao-Qun Jin Xiao-Hu Zhou Mei-Jiang Gui Xiao-Liang Xie ... Shuang-Yi Wang Sheng-Bin Duang Si-Cheng Wang Zheng Lei Z. Hou 60 1 0 06 Mar 2025
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction Huang Huang Fangchen Liu Letian Fu Tingfan Wu Mustafa Mukadam Jitendra Malik Ken Goldberg Pieter Abbeel LM&Ro VLM 85 6 0 05 Mar 2025
SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Safe Reinforcement Learning Borong Zhang Yuhao Zhang Yalan Qin Yingshan Lei Josef Dai Yuanpei Chen Yaodong Yang 66 4 0 05 Mar 2025
AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons Hongjie Fang Chenxi Wang Yiming Wang J. Chen Shangning Xia ... Xinyu Zhan Lixin Yang Weiming Wang Cewu Lu Hao-Shu Fang 87 1 0 05 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey Kun Zhang Peng Yun Jun Cen Junhao Cai DiDi Zhu ... Qifeng Chen Jia Pan Wei Zhang Bo Yang Hua Chen 59 1 0 05 Mar 2025
Curating Demonstrations using Online Experience Annie S. Chen Alec M. Lessing Yuejiang Liu Chelsea Finn 63 1 0 05 Mar 2025
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks Wei Chen Kelin Li Dongmyoung Lee Xiaoshuai Chen Rui Zong Petar Kormushev AI4CE 44 0 0 04 Mar 2025
Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion Piotr Koczy Michael C. Welle Danica Kragic 58 0 0 04 Mar 2025
Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation Junjie Zhu Huayu Liu Jin Wang Bangrong Wen Kaixiang Huang Xiaofei Li Haiyun Zhan Guodong Lu 70 0 0 04 Mar 2025
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning Qiyang Yan Zihan Ding Xin Zhou Adam J. Spiers 51 0 0 04 Mar 2025
Diverse Controllable Diffusion Policy with Signal Temporal Logic Yue Meng Chuchu fan 51 2 0 04 Mar 2025
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation Han Xue Jieji Ren Wendi Chen Gu Zhang Yuan Fang Guoying Gu Huazhe Xu Cewu Lu 49 5 0 04 Mar 2025
Controllable Motion Generation via Diffusion Modal Coupling Luobin Wang Hongzhan Yu Chenning Yu Sicun Gao Henrik I. Christensen DiffM 79 0 0 04 Mar 2025
Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding Wenxuan Song Jiayi Chen Pengxiang Ding Han Zhao Wei Zhao Zhide Zhong Zongyuan Ge Jun Ma Haoang Li 54 3 0 04 Mar 2025