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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
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions Tomoharu Aizu Takeru Oba Yuki Kondo Norimichi Ukita DiffM 144 0 0 28 Apr 2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies Jialiang Zhao Naveen Kuppuswamy S. Feng Benjamin Burchfiel Edward H. Adelson 122 1 0 27 Apr 2025
Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability Zishen Wan Jiayi Qian Yuhang Du Jason J. Jabbour Yilun Du Yang Katie Zhao A. Raychowdhury Tushar Krishna Vijay Janapa Reddi LM&Ro 191 1 0 26 Apr 2025
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation YiFan Duan Heng Li Yilong Wu Wenhao Yu Xinran Zhang Yedong Shen Jianmin Ji Yanzhe Zhang 145 0 0 26 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Yuchen Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 208 8 0 26 Apr 2025
Instrumentation for Better Demonstrations: A Case Study Remko Proesmans Thomas Lips Francis Wyffels 81 0 0 25 Apr 2025
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping Atsushi Kanehira Naoki Wake Kazuhiro Sasabuchi Jun Takamatsu Katsushi Ikeuchi 77 0 0 25 Apr 2025
MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning Itamar Mishani Yorai Shaoul Maxim Likhachev 79 0 0 23 Apr 2025
Latent Diffusion Planning for Imitation Learning Amber Xie Oleh Rybkin Dorsa Sadigh Chelsea Finn 108 1 0 23 Apr 2025
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Soomi Lee Arvind Kruthiventy Megan Teng Jongeun Choi R. Horowitz 75 0 0 23 Apr 2025
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 156 1 0 23 Apr 2025
Multimodal Perception for Goal-oriented Navigation: A Survey I-Tak Ieong Hao Tang LM&Ro LRM 104 0 0 22 Apr 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks Masoud Moghani Nigel Nelson Mohamed Ghanem Andres Diaz-Pinto Kush Hari Mahdi Azizian Ken Goldberg Sean Huver Animesh Garg 72 0 0 21 Apr 2025
Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models Yuhang Zhong Anke Zhao Tianyue Wu Tingrui Zhang Fei Gao 68 0 0 21 Apr 2025
ExFace: Expressive Facial Control for Humanoid Robots with Diffusion Transformers and Bootstrap Training Dong Zhang Jingwei Peng Yuyang Jiao Jiayuan Gu Jingyi Yu Jiahao Chen 79 0 0 20 Apr 2025
Modality Selection and Skill Segmentation via Cross-Modality Attention Jiawei Jiang Kei Ota Devesh K. Jha Asako Kanezaki 61 0 0 20 Apr 2025
Phoenix: A Motion-based Self-Reflection Framework for Fine-grained Robotic Action Correction Wenke Xia Ruoxuan Feng Dong Wang Di Hu 91 1 0 20 Apr 2025
Imitation Learning with Precisely Labeled Human Demonstrations Yilong Song 73 0 0 18 Apr 2025
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability Zhengtong Xu Zichen Miao Qiang Qiu Zhe Zhang Yu She 182 0 0 18 Apr 2025
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting Niklas Funk Changqi Chen Tim Schneider Georgia Chalvatzaki Roberto Calandra Jan Peters 89 0 0 18 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration Tyler Ga Wei Lum Olivia Y. Lee C. Karen Liu Jeannette Bohg 124 1 0 17 Apr 2025
UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control Yongpeng Wu Korrawe Karunratanakul Zhengyi Luo Siyu Tang DiffM VGen AI4CE 116 1 0 17 Apr 2025
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins Yao Mu Tianxing Chen Z. Chen Shijia Peng Zhiqian Lan ... Mingkun Xu Lunkai Lin Zhiqiang Xie Mingyu Ding Ping Luo 140 8 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 194 1 0 17 Apr 2025
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation Sizhe Yang Wenye Yu Jia Zeng Jun Lv Kerui Ren Cewu Lu Dahua Lin Jiangmiao Pang 3DGS 125 2 0 17 Apr 2025
Towards Forceful Robotic Foundation Models: a Literature Survey William Xie N. Correll OffRL 144 4 0 16 Apr 2025
Efficient Task-specific Conditional Diffusion Policies: Shortcut Model Acceleration and SO(3) Optimization Haiyong Yu Yanqiong Jin Yonghao He Wei Sui 80 0 0 14 Apr 2025
Decoupled Diffusion Sparks Adaptive Scene Generation Yunsong Zhou Naisheng Ye William Ljungbergh Tianyu Li Jiazhi Yang Zetong Yang Hongzi Zhu Christoffer Petersson Hongyang Li 112 2 0 14 Apr 2025
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning Guanqi He Xiaofeng Guo Luyi Tang Yize Zhang M. Mousaei Jiahe Xu Junyi Geng Sebastian A. Scherer Guanya Shi 91 0 0 14 Apr 2025
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models Hao Ren Yiming Zeng Zetong Bi Zhaoliang Wan Junlong Huang Hui Cheng 443 1 0 14 Apr 2025
HUMOTO: A 4D Dataset of Mocap Human Object Interactions Jiaxin Lu Chun-Hao Paul Huang Uttaran Bhattacharya Qixing Huang Yi Zhou 88 0 0 14 Apr 2025
REALM: Real-Time Estimates of Assistance for Learned Models in Human-Robot Interaction Michael Hagenow Julie Shah 64 0 0 12 Apr 2025
Safe Flow Matching: Robot Motion Planning with Control Barrier Functions X. Dai Dian Yu Shanshan Zhang Zewen Yang Hamid Sadeghian Sami Haddadin Sandra Hirche 92 1 0 11 Apr 2025
Diffusion Models for Robotic Manipulation: A Survey Rosa Wolf Yitian Shi Sheng Liu Rania Rayyes 127 2 0 11 Apr 2025
Leveraging GCN-based Action Recognition for Teleoperation in Daily Activity Assistance Thomas M. Kwok Jiaan Li Yue Hu 59 0 0 09 Apr 2025
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos Alexey Gavryushin Xi Wang Robert J. S. Malate Chenyu Yang Xiaojun Jia Shubh Goel Davide Liconti René Zurbrugg Robert K. Katzschmann Marc Pollefeys 94 2 0 08 Apr 2025
ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface Fangchen Liu Chuanyu Li Yihua Qin Ankit Shaw Jinfeng Xu Pieter Abbeel Rui Chen 133 5 0 08 Apr 2025
Agent-Arena: A General Framework for Evaluating Control Algorithms Halid Abdulrahim Kadi K. Terzic AI4CE 43 0 0 08 Apr 2025
Speech-to-Trajectory: Learning Human-Like Verbal Guidance for Robot Motion Eran Bamani Eden Nissinman Rotem Atari Nevo Heimann Saadon A. Sintov 424 0 0 07 Apr 2025
SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation Adam Imdieke Karthik Desingh 157 0 0 07 Apr 2025
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions Pau Marquez Julbe Julian Nubert Henrik Hose Sebastian Trimpe Katherine J. Kuchenbecker 99 0 0 06 Apr 2025
Tool-as-Interface: Learning Robot Policies from Human Tool Usage through Imitation Learning Haonan Chen Cheng Zhu Yunzhu Li Katherine Driggs-Campbell 74 2 0 06 Apr 2025
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning Clemens C. Christoph Maximilian Eberlein Filippos Katsimalis Arturo Roberti Aristotelis Sympetheros ... Davide Liconti Chenyu Yang Barnabas Gavin Cangan R. Hinchet Robert K. Katzschmann 96 3 0 05 Apr 2025
MORAL: A Multimodal Reinforcement Learning Framework for Decision Making in Autonomous Laboratories Natalie Tirabassi Sathish A. P. Kumar S. Jha Arvind Ramanathan LM&Ro OffRL 85 0 0 04 Apr 2025
Real-is-Sim: Bridging the Sim-to-Real Gap with a Dynamic Digital Twin Jad Abou-Chakra Lingfeng Sun Krishan Rana Brandon B. May Karl Schmeckpeper Niko Suenderhauf M. Minniti Laura Herlant OffRL 452 1 0 04 Apr 2025
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation Tan Shu Li Shen 129 2 0 04 Apr 2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu Raymond Yu S. Feng Benjamin Burchfiel Paarth Shah Abhishek Gupta VGen 168 7 0 03 Apr 2025
Autonomous Human-Robot Interaction via Operator Imitation Sammy Christen David Müller Agon Serifi Ruben Grandia Georg Wiedebach Michael A. Hopkins Espen Knoop Moritz Bächer LM&Ro 97 0 0 03 Apr 2025
Learning with Imperfect Models: When Multi-step Prediction Mitigates Compounding Error Anne Somalwar Bruce D. Lee George J. Pappas Nikolai Matni 61 0 0 02 Apr 2025
HACTS: a Human-As-Copilot Teleoperation System for Robot Learning Zhihao Xu Yinuo Zhao Kun Wu Ning Liu Junjie Ji Zhengping Che C. Liu Jian Tang 117 1 0 31 Mar 2025