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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
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang Lawrence Yunliang Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 148 7 0 31 Mar 2025
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning Yifei Yang Lu Chen Zherui Song Yenan Chen Wentao Sun Zhongxiang Zhou R. Xiong Yansen Wang 88 0 0 31 Mar 2025
Dynamics-aware Diffusion Models for Planning and Control D. Gadginmath Fabio Pasqualetti 168 3 0 31 Mar 2025
Exploration and Adaptation in Non-Stationary Tasks with Diffusion Policies Gunbir Singh Baveja 67 0 0 31 Mar 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
Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models Haonan Chen Jiaming Xu Lily Sheng Tianchen Ji Shuijing Liu Yunzhu Li Katherine Driggs-Campbell 112 1 0 30 Mar 2025
Learning Predictive Visuomotor Coordination Wenqi Jia Bolin Lai Miao Liu Danfei Xu James M. Rehg 123 0 0 30 Mar 2025
Robust Offline Imitation Learning Through State-level Trajectory Stitching Shuze Wang Yunpeng Mei Hongjie Cao Yetian Yuan Gang Wang Jian Sun Jie Chen OffRL 63 0 0 28 Mar 2025
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels Adam Wei Abhinav Agarwal Boyuan Chen Rohan Bosworth Nicholas Pfaff Russ Tedrake 100 4 0 28 Mar 2025
CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models Qingqing Zhao Yao Lu Moo Jin Kim Zipeng Fu Zhuoyang Zhang ... Ankur Handa Xuan Li Donglai Xiang Gordon Wetzstein Nayeon Lee LM&Ro LRM 99 33 0 27 Mar 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 126 6 0 27 Mar 2025
OminiAdapt: Learning Cross-Task Invariance for Robust and Environment-Aware Robotic Manipulation Yanjie Wang Weiyun Yi Xinhao Kong Wanting Li 93 0 0 27 Mar 2025
PCM : Picard Consistency Model for Fast Parallel Sampling of Diffusion Models Junhyuk So Jiwoong Shin Chaeyeon Jang Eunhyeok Park DiffM 134 0 0 25 Mar 2025
Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy Zhi Hou Tianyi Zhang Yuwen Xiong Haonan Duan Hengjun Pu ... Chengyang Zhao X. Zhu Yu Qiao Jifeng Dai Yuxiao Chen 145 6 0 25 Mar 2025
Efficient Continual Adaptation of Pretrained Robotic Policy with Online Meta-Learned Adapters Ruiqi Zhu Endong Sun Guanhe Huang Oya Celiktutan CLL OnRL 135 0 0 24 Mar 2025
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation Chengbo Yuan Suraj Joshi Shaoting Zhu Hang Su Hang Zhao Yang Gao VGen 107 6 0 24 Mar 2025
Real-Time Diffusion Policies for Games: Enhancing Consistency Policies with Q-Ensembles Ruoqi Zhang Ziwei Luo Jens Sjölund Per Mattsson Linus Gisslén Alessandro Sestini 69 1 0 21 Mar 2025
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation Jiangran Lyu Ziming Li Xuesong Shi Chaoyi Xu Yizhou Wang He Wang 104 0 0 21 Mar 2025
APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly Philip Huang Ruixuan Liu Changliu Liu Jiaoyang Li 145 5 0 20 Mar 2025
Denoising-based Contractive Imitation Learning Macheng Shen Jishen Peng Zefang Huang 98 0 0 20 Mar 2025
Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation Cheng Pan Hung Hon Cheng Josie Hughes 80 0 0 19 Mar 2025
Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability Zihao Liu Xing Liu Yizhai Zhang Zhengxiong Liu Panfeng Huang 119 0 0 19 Mar 2025
CCDP: Composition of Conditional Diffusion Policies with Guided Sampling Amirreza Razmjoo Sylvain Calinon Michael Gienger Fan Zhang 103 1 0 19 Mar 2025
Robotic Paper Wrapping by Learning Force Control Hiroki Hanai Takuya Kiyokawa Weiwei Wan Kensuke Harada 115 0 0 19 Mar 2025
Quantization-Free Autoregressive Action Transformer Ziyad Sheebaelhamd Michael Tschannen Michael Muehlebach Claire Vernade 99 1 0 18 Mar 2025
Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers Tomohiro Motoda Ryo Hanai Ryoichi Nakajo Masaki Murooka Floris Erich Y. Domae 108 1 0 18 Mar 2025
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Nvidia Johan Bjorck Fernando Castañeda Nikita Cherniadev Xingye Da ... Ao Zhang Hao Zhang Yizhou Zhao Ruijie Zheng Yuke Zhu VLM 160 68 0 18 Mar 2025
Dense Policy: Bidirectional Autoregressive Learning of Actions Yue Su Xinyu Zhan Hongjie Fang Han Xue Hao-Shu Fang Yongqian Li Cewu Lu Lixin Yang VGen 110 4 0 17 Mar 2025
HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learning Wensheng Wang Ning Tan LM&Ro OffRL 92 0 0 17 Mar 2025
PANDORA: Diffusion Policy Learning for Dexterous Robotic Piano Playing Yanjia Huang Renjie Li Zhengzhong Tu VGen 101 0 0 17 Mar 2025
MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation Zhenyu Wu Yuheng Zhou Xiuwei Xu Zehua Wang Haibin Yan 105 3 0 17 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 216 1 0 16 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 103 0 0 16 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 107 4 0 15 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 123 3 0 15 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 Koushil Sreenath Farbod Farshidian DiffM 134 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 132 4 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 206 1 0 14 Mar 2025
Controllable Latent Diffusion for Traffic Simulation Yizhuo Xiao Mustafa Suphi Erden Cheng Wang 107 0 0 14 Mar 2025
LUMOS: Language-Conditioned Imitation Learning with World Models Iman Nematollahi Branton DeMoss Akshay L Chandra Nick Hawes Wolfram Burgard Ingmar Posner OffRL 71 1 0 13 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 105 2 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 121 2 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 196 20 0 13 Mar 2025
AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI Haiqin Cui Yifu Yuan Yan Zheng Jianye Hao 460 1 0 13 Mar 2025
Enhanced View Planning for Robotic Harvesting: Tackling Occlusions with Imitation Learning Lun Li Hamidreza Kasaei 111 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 95 0 0 13 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 144 3 0 12 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 145 2 0 12 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 ... Junxuan Zhang Miao Ding Peidong Liang Xiong You Xian Wei 106 0 0 11 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation Rujia Yang Geng Chen Chuan Wen Yang Gao LM&Ro 135 6 0 11 Mar 2025