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
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 10 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
Composite Gaussian Processes Flows for Learning Discontinuous Multimodal Policies Shu-yuan Wang Hikaru Sasaki Takamitsu Matsubara 89 0 0 04 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
VILP: Imitation Learning with Latent Video Planning Zhengtong Xu Qiang Qiu Yu She VGen 78 1 0 03 Feb 2025
ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation Haochen Shi Weizhuo Wang Shuran Song Chenxi Liu 48 3 0 02 Feb 2025
Strengthening Generative Robot Policies through Predictive World Modeling Han Qi Haocheng Yin Yilun Du Heng Yang 63 2 0 02 Feb 2025
Dexterous Cable Manipulation: Taxonomy, Multi-Fingered Hand Design, and Long-Horizon Manipulation Sun Zhaole Xiao Gao Xiaofeng Mao Jihong Zhu A. Billard Robert B. Fisher 54 0 0 01 Feb 2025
Imperative Learning: A Self-supervised Neuro-Symbolic Learning Framework for Robot Autonomy Chen Wang Kaiyi Ji Junyi Geng Zhongqiang Ren Taimeng Fu ... Yi Du Qihang Li Yuqing Yang Xiao Lin Zhipeng Zhao SSL 89 9 0 28 Jan 2025
Diffusion-Based Planning for Autonomous Driving with Flexible Guidance Yinan Zheng Ruiming Liang Kexin Zheng Jinliang Zheng Liyuan Mao ... Weihao Gu Rui Ai Shengbo Eben Li Xianyuan Zhan Jingjing Liu 71 6 0 26 Jan 2025
State Combinatorial Generalization In Decision Making With Conditional Diffusion Models Xintong Duan Yutong He Fahim Tajwar Wen-Tse Chen Ruslan Salakhutdinov Jeff Schneider OffRL AI4CE 101 0 0 22 Jan 2025
Force-Aware Autonomous Robotic Surgery Alaa Eldin Abdelaal Jiaying Fang Tim N. Reinhart Jacob A. Mejia Tony Zhao Jeannette Bohg Allison M. Okamura OOD 40 0 0 20 Jan 2025
Global Search for Optimal Low Thrust Spacecraft Trajectories using Diffusion Models and the Indirect Method Jannik Graebner Ryne T. Beeson 43 0 0 13 Jan 2025
Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning Juntao Ren Priya Sundaresan Dorsa Sadigh Sanjiban Choudhury Jeannette Bohg 37 15 0 13 Jan 2025
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing Binghao Huang Yixuan Wang Xinyi Yang Yiyue Luo Yunzhu Li 46 15 0 08 Jan 2025
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints Mingjie Pan Jiyao Zhang Tianshu Wu Yinghao Zhao Wenlong Gao Hao Dong LM&Ro 55 6 0 08 Jan 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies Pingcheng Jian Easop Lee Zachary I. Bell Michael M. Zavlanos Boyuan Chen 80 1 0 03 Jan 2025
Local Flow Matching Generative Models Chen Xu Xiuyuan Cheng Yao Xie 44 0 0 03 Jan 2025
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations Nimrod Curtis Osher Azulay A. Sintov 42 0 0 31 Dec 2024
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li Wen Hui Leng Yiming Fang Ben Eisner David Held AI4CE 47 1 0 31 Dec 2024
Mimicking-Bench: A Benchmark for Generalizable Humanoid-Scene Interaction Learning via Human Mimicking Yun-Hai Liu Bowen Yang Licheng Zhong He Wang Li Yi 45 5 0 23 Dec 2024
Sampling-Based Constrained Motion Planning with Products of Experts Amirreza Razmjoo Teng Xue Suhan Shetty Sylvain Calinon 48 1 0 23 Dec 2024
Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation Yang Tian Sizhe Yang Jia Zeng P. Wang Dahua Lin Hao Dong Jiangmiao Pang 84 17 0 19 Dec 2024
Towards Generalist Robot Policies: What Matters in Building Vision-Language-Action Models Xinghang Li Peiyan Li Minghuan Liu Dong Wang Jirong Liu Bingyi Kang Xiao Ma Tao Kong Hanbo Zhang Huaping Liu LM&Ro 99 18 0 18 Dec 2024
Policy Decorator: Model-Agnostic Online Refinement for Large Policy Model Xiu Yuan Tongzhou Mu Stone Tao Yunhao Fang Mengke Zhang H. Su OffRL 71 3 0 18 Dec 2024
Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning Moritz Reuss Jyothish Pari Pulkit Agrawal Rudolf Lioutikov DiffM MoE 84 6 0 17 Dec 2024
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 102 1 0 16 Dec 2024
Fast and Robust Visuomotor Riemannian Flow Matching Policy Haoran Ding Noémie Jaquier Jan Peters Leonel Rozo 86 2 0 14 Dec 2024
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning Charles Xu Qiyang Li Jianlan Luo Sergey Levine OffRL 87 5 0 13 Dec 2024
TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning Jimmy Wu William Chong Robert Holmberg Aaditya Prasad Yihuai Gao O. Khatib Shuran Song Szymon Rusinkiewicz Jeannette Bohg 78 7 0 11 Dec 2024
RoboMM: All-in-One Multimodal Large Model for Robotic Manipulation Feng Yan Fanfan Liu Liming Zheng Yufeng Zhong Yiyang Huang Zechao Guan Chengjian Feng Lin Ma 84 2 0 10 Dec 2024
CHOICE: Coordinated Human-Object Interaction in Cluttered Environments for Pick-and-Place Actions Jintao Lu He Zhang Yuting Ye Takaaki Shiratori Sebastian Starke Taku Komura 75 2 0 09 Dec 2024
Policy Agnostic RL: Offline RL and Online RL Fine-Tuning of Any Class and Backbone Max Sobol Mark Tian Gao Georgia Gabriela Sampaio Mohan Kumar Srirama Archit Sharma Chelsea Finn Aviral Kumar OffRL OnRL 97 4 0 09 Dec 2024
ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks Arth Shukla Stone Tao Hao Su 91 6 0 09 Dec 2024
SceneDiffuser: Efficient and Controllable Driving Simulation Initialization and Rollout C. Jiang Yijing Bai Andre Cornman Christopher Davis Xiukun Huang ... Carlos Fuertes Chang Yuan Mingxing Tan Yin Zhou Dragomir Anguelov 82 14 0 05 Dec 2024
Diffusion-VLA: Scaling Robot Foundation Models via Unified Diffusion and Autoregression Junjie Wen Minjie Zhu Yichen Zhu Zhibin Tang Jinming Li ... Chengmeng Li Xiaoyu Liu Yaxin Peng Chaomin Shen Feifei Feng 88 15 0 04 Dec 2024
Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation Xuanlin Li Tong Zhao Xinghao Zhu Jiuguang Wang Tao Pang Kuan Fang 85 4 0 03 Dec 2024
Robot Learning with Super-Linear Scaling M. Torné Arhan Jain Jiayi Yuan Vidaaranya Macha Lars L. Ankile Anthony Simeonov Pulkit Agrawal Abhishek Gupta LM&Ro OffRL 70 2 0 02 Dec 2024
RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments Yuxing Chen Songlin Wei Bowen Xiao Jiangran Lyu Jiayi Chen Feng Zhu H. Wang 75 0 0 02 Dec 2024
CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation Qixiu Li Yaobo Liang Zeyu Wang Lin Luo Xi Chen ... Jianmin Bao Dong Chen Yuanchun Shi Jiaolong Yang B. Guo LM&Ro 83 23 0 29 Nov 2024
RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World Weixin Mao Weiheng Zhong Zhou Jiang Dong Fang Zhongyue Zhang ... Fan Jia Tiancai Wang Haoqiang Fan Osamu Yoshie Osamu Yoshie 119 5 0 29 Nov 2024
Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation Yueru Jia Jiaming Liu Sixiang Chen Chenyang Gu Zihan Wang ... Lily Lee Pengwei Wang Zhongyuan Wang Renrui Zhang Shanghang Zhang 89 11 0 27 Nov 2024
Unpacking the Individual Components of Diffusion Policy Xiu Yuan 87 0 0 27 Nov 2024
G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation Tianxing Chen Yao Mu Zhixuan Liang Z. Chen Shijia Peng ... Mingkun Xu R. Hu H. Zhang Xuelong Li Ping Luo AI4CE 107 8 0 27 Nov 2024
Spatially Visual Perception for End-to-End Robotic Learning Travis Davies Jiahuan Yan Xiang Chen Yu Tian Yueting Zhuang Yiqi Huang Luhui Hu 75 0 0 26 Nov 2024
Inference-Time Policy Steering through Human Interactions Yanwei Wang Lirui Wang Yilun Du Balakumar Sundaralingam Xuning Yang Yu-Wei Chao Claudia Pérez-DÁrpino Dieter Fox Julie Shah VGen 106 4 0 25 Nov 2024
Aim My Robot: Precision Local Navigation to Any Object Xiangyun Meng Xuning Yang Sanghun Jung F. Ramos Srid Sadhan Jujjavarapu Sanjoy Paul Dieter Fox 85 1 0 22 Nov 2024