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
Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning Xintao Chao Shilong Mu Yushan Liu Shoujie Li Chuqiao Lyu Xiao-Ping Zhang Wenbo Ding 77 1 0 03 Mar 2025
Phantom: Training Robots Without Robots Using Only Human Videos Marion Lepert Jiaying Fang Jeannette Bohg OffRL 42 8 0 02 Mar 2025
Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer Marion Lepert Ria Doshi Jeannette Bohg 48 4 0 02 Mar 2025
Fast Visuomotor Policies via Partial Denoising Haojun Chen Minghao Liu Xiaojian Ma Zailin Ma Huimin Wu ... Yuanpei Chen Yifan Zhong Mingzhi Wang Qing Li Yaodong Yang VGen 34 0 0 01 Mar 2025
Unified Video Action Model Shuang Li Yihuai Gao Dorsa Sadigh Shuran Song VGen 56 2 0 28 Feb 2025
ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion Federico Pizarro Bejarano Bryson Jones Daniel Pastor Moreno J. Bowkett Paul Backes Angela P. Schoellig 36 0 0 28 Feb 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H. Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 82 3 0 27 Feb 2025
VDT-Auto: End-to-end Autonomous Driving with VLM-Guided Diffusion Transformers Ziang Guo Konstantin Gubernatorov Selamawit Asfaw Zakhar Yagudin Dzmitry Tsetserukou 47 1 0 27 Feb 2025
Implicit Search via Discrete Diffusion: A Study on Chess Jiacheng Ye Zhenyu Wu Jiahui Gao Zhiyong Wu Xin Jiang Zhiyu Li Lingpeng Kong DiffM 50 2 0 27 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 52 8 0 27 Feb 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 66 2 0 27 Feb 2025
Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models Lucy Xiaoyang Shi Brian Ichter Michael Equi Liyiming Ke Karl Pertsch ... Adrian Li-Bell Danny Driess Lachy Groom Sergey Levine Chelsea Finn LM&Ro LRM 95 8 0 26 Feb 2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models Zhanpeng He Yifeng Cao M. Ciocarlie 64 0 0 26 Feb 2025
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration Minjie Zhu Yichen Zhu Jinming Li Zhongyi Zhou Junjie Wen Xiaoyu Liu Chaomin Shen Yaxin Peng Feifei Feng LM&Ro 89 4 0 26 Feb 2025
FairGen: Controlling Sensitive Attributes for Fair Generations in Diffusion Models via Adaptive Latent Guidance Mintong Kang Vinayshekhar Bannihatti Kumar Shamik Roy Abhishek Kumar Sopan Khosla Balakrishnan Narayanaswamy Rashmi Gangadharaiah 50 0 0 25 Feb 2025
Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze and Bottleneck Ryo Takizawa Izumi Karino Koki Nakagawa Y. Ohmura Y. Kuniyoshi 77 1 0 25 Feb 2025
Score-Based Diffusion Policy Compatible with Reinforcement Learning via Optimal Transport Mingyang Sun Pengxiang Ding Weinan Zhang Donglin Wang OT 83 0 0 24 Feb 2025
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach Xiangtong Yao Yirui Zhou Y. Meng Liangyu Dong Lin Hong Zitao Zhang Zhenshan Bing Kai Huang Fuchun Sun Alois C. Knoll 82 0 0 24 Feb 2025
DemoGen: Synthetic Demonstration Generation for Data-Efficient Visuomotor Policy Learning Zhengrong Xue Shuying Deng Zhenyang Chen Yixuan Wang Zhecheng Yuan Huazhe Xu 49 5 0 24 Feb 2025
FUNCTO: Function-Centric One-Shot Imitation Learning for Tool Manipulation Chao Tang Anxing Xiao Yuhong Deng Tianrun Hu Wenlong Dong Hanbo Zhang David Hsu Hong Zhang 73 2 0 24 Feb 2025
FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning Jason Jingzhou Liu Yulong Li Kenneth Shaw Tony Tao Ruslan Salakhutdinov Deepak Pathak OffRL 65 1 0 24 Feb 2025
S4S: Solving for a Diffusion Model Solver Eric Frankel Sitan Chen Jingkai Li Pang Wei Koh Lillian J. Ratliff Sewoong Oh DiffM 48 0 0 24 Feb 2025
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task Yue Yang Linfeng Zhao Mingyu Ding Gedas Bertasius D. Szafir 80 0 0 24 Feb 2025
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis Stephen Tian Blake Wulfe Kyle Sargent Katherine Liu Sergey Zakharov Vitor Campagnolo Guizilini Jiajun Wu 84 10 0 21 Feb 2025
LEGATO: Cross-Embodiment Imitation Using a Grasping Tool Mingyo Seo H. Andy Park Shenli Yuan Yuke Zhu Luis Sentis 70 5 0 20 Feb 2025
Towards Fusing Point Cloud and Visual Representations for Imitation Learning Atalay Donat Xiaogang Jia Xi Huang Aleksandar Taranovic Denis Blessing Ge Li Hongyi Zhou Hanyi Zhang Rudolf Lioutikov Gerhard Neumann 3DPC SSL 73 1 0 20 Feb 2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao K. Sreenath Negar Mehr 88 2 0 20 Feb 2025
X-IL: Exploring the Design Space of Imitation Learning Policies Xiaogang Jia Atalay Donat Xi Huang Xuan Zhao Denis Blessing ... Han A. Wang Hanyi Zhang Qian Wang Rudolf Lioutikov Gerhard Neumann 91 1 0 20 Feb 2025
BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulation Zihan Lan Weixin Mao Yiming Li Le Wang Tiancai Wang Haoqiang Fan Osamu Yoshie EgoV 67 2 0 20 Feb 2025
RHINO: Learning Real-Time Humanoid-Human-Object Interaction from Human Demonstrations Jingxiao Chen Xinyao Li Jiahang Cao Zhengbang Zhu Wentao Dong Minghuan Liu Ying Wen Yong Yu Li Zhang Weinan Zhang 91 0 0 18 Feb 2025
Reward-Safety Balance in Offline Safe RL via Diffusion Regularization Junyu Guo Zhi Zheng Donghao Ying Ming Jin Shangding Gu C. Spanos Javad Lavaei OffRL 56 0 0 18 Feb 2025
COMBO-Grasp: Learning Constraint-Based Manipulation for Bimanual Occluded Grasping Jun Yamada Alexander L. Mitchell Jack Collins Ingmar Posner OffRL 90 0 0 17 Feb 2025
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu Chengkai Hou Jiaming Liu Zhengping Che Xiaozhu Ju ... Zhenyu Wang Pengju An Siyuan Qian Shanghang Zhang Jian Tang LM&Ro 113 15 0 17 Feb 2025
Maximum Entropy Reinforcement Learning with Diffusion Policy Xiaoyi Dong Jian Cheng Xinsong Zhang 46 0 0 17 Feb 2025
IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimation Krishan Rana Robert Lee David Pershouse Niko Suenderhauf VGen 56 0 0 17 Feb 2025
AdaManip: Adaptive Articulated Object Manipulation Environments and Policy Learning Yuanfei Wang Xiaojie Zhang Ruihai Wu Yu Li Yan Shen Mingdong Wu Zhaofeng He Yizhou Wang Hao Dong 50 3 0 16 Feb 2025
Maximize Your Diffusion: A Study into Reward Maximization and Alignment for Diffusion-based Control Dom Huh P. Mohapatra 89 1 0 16 Feb 2025
Bilevel Learning for Bilevel Planning Bowen Li Tom Silver Sebastian A. Scherer Alexander G. Gray 78 1 0 12 Feb 2025
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove H. Zhang Songbo Hu Zhecheng Yuan Huazhe Xu 116 3 0 11 Feb 2025
Imit Diff: Semantics Guided Diffusion Transformer with Dual Resolution Fusion for Imitation Learning Yuhang Dong Haizhou Ge Yupei Zeng Jun Zhang Beiwen Tian ... Yufei Jia Ruixiang Wang Ran Yi Guyue Zhou Longhua Ma 56 0 0 11 Feb 2025
History-Guided Video Diffusion Kiwhan Song Boyuan Chen Max Simchowitz Yilun Du Russ Tedrake Vincent Sitzmann VGen 117 7 0 10 Feb 2025
Habitizing Diffusion Planning for Efficient and Effective Decision Making Haofei Lu Yifei Shen Dongsheng Li Junliang Xing Dongqi Han 67 0 0 10 Feb 2025
CDM: Contact Diffusion Model for Multi-Contact Point Localization Seo Wook Han Min Jun Kim DiffM 35 0 0 10 Feb 2025
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control Junjie Wen Yichen Zhu Jinming Li Zhibin Tang Chaomin Shen Feifei Feng VLM 61 12 0 09 Feb 2025
HAMSTER: Hierarchical Action Models For Open-World Robot Manipulation Yi Li Yuquan Deng Jun Zhang Joel Jang Marius Memme ... Fabio Ramos Dieter Fox Anqi Li Abhishek Gupta Ankit Goyal LM&Ro 99 9 0 08 Feb 2025
ConRFT: A Reinforced Fine-tuning Method for VLA Models via Consistency Policy Yuhui Chen Shuai Tian Shugao Liu Yingting Zhou Haoran Li Dongbin Zhao OffRL 106 1 0 08 Feb 2025
RobotMover: Learning to Move Large Objects From Human Demonstrations Tianyu Li Joanne Truong Jimmy Yang Alexander Clegg Akshara Rai Sehoon Ha Xavier Puig AI4CE 65 0 0 07 Feb 2025
How vulnerable is my policy? Adversarial attacks on modern behavior cloning policies Basavasagar Patil Akansha Kalra Guanhong Tao Daniel S. Brown AAML 76 0 0 06 Feb 2025
From Uncertain to Safe: Conformal Fine-Tuning of Diffusion Models for Safe PDE Control Peiyan Hu Xiaowei Qian Wenhao Deng Rui Wang Haodong Feng ... Tao Zhang Long Wei Yue Wang Zhi-Ming Ma Tailin Wu AI4CE 120 0 0 04 Feb 2025
MuST: Multi-Head Skill Transformer for Long-Horizon Dexterous Manipulation with Skill Progress Kai Gao Fan Wang Erica Aduh Dylan Randle Jane Shi 50 0 0 04 Feb 2025