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
DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving Bencheng Liao Shaoyu Chen Haoran Yin Bo Jiang Cheng Wang ... Xinbang Zhang Xiangyu Li Y. Zhang Qian Zhang Xinggang Wang 107 16 0 22 Nov 2024
Reward Fine-Tuning Two-Step Diffusion Models via Learning Differentiable Latent-Space Surrogate Reward Zhiwei Jia Yuesong Nan Huixi Zhao Gengdai Liu EGVM 91 0 0 22 Nov 2024
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation Huy Le Miroslav Gabriel Tai Hoang Gerhard Neumann Ngo Anh Vien 114 1 0 22 Nov 2024
Rethinking the Intermediate Features in Adversarial Attacks: Misleading Robotic Models via Adversarial Distillation Ke Zhao Huayang Huang Miao Li Yu Wu AAML 71 0 0 21 Nov 2024
Bimanual Dexterity for Complex Tasks Kenneth Shaw Yulong Li Jiahui Yang Mohan Kumar Srirama Ray Liu Haoyu Xiong Russell Mendonca Deepak Pathak 79 19 0 20 Nov 2024
RoboGSim: A Real2Sim2Real Robotic Gaussian Splatting Simulator Xinhai Li Jiajian Li Ziheng Zhang Rui Zhang Fan Jia Tiancai Wang Haoqiang Fan Kuo-Kun Tseng Ruiping Wang 3DGS 78 8 0 18 Nov 2024
Bridging the Resource Gap: Deploying Advanced Imitation Learning Models onto Affordable Embedded Platforms Haizhou Ge Ruixiang Wang Zhu-ang Xu Hongrui Zhu Ruichen Deng Yuhang Dong Zeyu Pang Guyue Zhou Junyu Zhang Lu Shi 81 1 0 18 Nov 2024
Learning Generalizable 3D Manipulation With 10 Demonstrations Yu Ren Yang Cong Ronghan Chen Jiahao Long SSL 61 1 0 15 Nov 2024
VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation Youpeng Wen Junfan Lin Yichen Zhu J. Han Hang Xu Shen Zhao Xiaodan Liang VGen DiffM 43 2 0 14 Nov 2024
Precision-Focused Reinforcement Learning Model for Robotic Object Pushing Lara Bergmann David P. Leins R. Haschke Klaus Neumann 42 3 0 13 Nov 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 46 1 0 11 Nov 2024
Grounding Video Models to Actions through Goal Conditioned Exploration Yunhao Luo Yilun Du LM&Ro VGen 85 1 0 11 Nov 2024
Few-Shot Task Learning through Inverse Generative Modeling Aviv Netanyahu Yilun Du Antonia Bronars Jyothish Pari J. Tenenbaum Tianmin Shu Pulkit Agrawal 51 1 0 07 Nov 2024
Stem-OB: Generalizable Visual Imitation Learning with Stem-Like Convergent Observation through Diffusion Inversion Kaizhe Hu Zihang Rui Yao He Yuyao Liu Pu Hua Huazhe Xu 44 1 0 07 Nov 2024
Vision Language Models are In-Context Value Learners Yecheng Jason Ma Joey Hejna Ayzaan Wahid Chuyuan Fu Dhruv Shah ... Dinesh Jayaraman Wenhao Yu Tingnan Zhang Dorsa Sadigh Fei Xia 60 5 0 07 Nov 2024
DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning G. Zhou Hengkai Pan Yann LeCun Lerrel Pinto VGen LM&Ro OffRL 35 15 0 07 Nov 2024
Problem Space Transformations for Generalisation in Behavioural Cloning Kiran Doshi Marco Bagatella Stelian Coros 38 0 0 06 Nov 2024
SEE-DPO: Self Entropy Enhanced Direct Preference Optimization Shivanshu Shekhar Shreyas Singh Tong Zhang 33 4 0 06 Nov 2024
ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policy Chenrui Tie Yue Chen Ruihai Wu Boxuan Dong Zhiyu Li Chongkai Gao Hao Dong 51 3 0 06 Nov 2024
VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding Chenyu Yang Davide Liconti Robert K. Katzschmann 42 1 0 05 Nov 2024
STEER: Flexible Robotic Manipulation via Dense Language Grounding Laura Smith A. Irpan Montserrat Gonzalez Arenas Sean Kirmani Dmitry Kalashnikov Dhruv Shah Ted Xiao LLMSV 42 1 0 05 Nov 2024
Learning Few-Shot Object Placement with Intra-Category Transfer Adrian Rofer Russell Buchanan Max Argus S. Vijayakumar Abhinav Valada 48 0 0 05 Nov 2024
Out-of-Distribution Recovery with Object-Centric Keypoint Inverse Policy for Visuomotor Imitation Learning George Jiayuan Gao Tianyu Li Nadia Figueroa 43 0 0 05 Nov 2024
Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration J. Grannen Siddharth Karamcheti Suvir Mirchandani Percy Liang Dorsa Sadigh 44 0 0 04 Nov 2024
So You Think You Can Scale Up Autonomous Robot Data Collection? Suvir Mirchandani Suneel Belkhale Joey Hejna Evelyn Choi Md Sazzad Islam Dorsa Sadigh OffRL 46 5 0 04 Nov 2024
The Role of Domain Randomization in Training Diffusion Policies for Whole-Body Humanoid Control Oleg Kaidanov Firas Al-Hafez Yusuf Suvari Boris Belousov Jan Peters 39 0 0 02 Nov 2024
GarmentLab: A Unified Simulation and Benchmark for Garment Manipulation Haoran Lu Ruihai Wu Yitong Li Sijie Li Ziyu Zhu Chuanruo Ning Yan Shen Longzan Luo Yuanpei Chen Hao Dong AI4CE 65 5 0 02 Nov 2024
CLIP-RT: Learning Language-Conditioned Robotic Policies from Natural Language Supervision Gi-Cheon Kang Junghyun Kim Kyuhwan Shim Jun Ki Lee Byoung-Tak Zhang LM&Ro 107 1 1 01 Nov 2024
SPOT: SE(3) Pose Trajectory Diffusion for Object-Centric Manipulation Cheng-Chun Hsu Bowen Wen Jie Xu Yashraj S. Narang Xiaolong Wang Yuke Zhu Joydeep Biswas Stan Birchfield DiffM 41 8 0 01 Nov 2024
Sparsh: Self-supervised touch representations for vision-based tactile sensing Carolina Higuera Akash Sharma Chaithanya Krishna Bodduluri Taosha Fan Patrick E. Lancaster ... Michael Kaess Byron Boots Mike Lambeta Tingfan Wu Mustafa Mukadam 42 12 0 31 Oct 2024
Transformer-based Model Predictive Control: Trajectory Optimization via Sequence Modeling Davide Celestini Daniele Gammelli T. Guffanti Simone DÁmico Elisa Capello Marco Pavone 49 8 0 31 Oct 2024
DexMimicGen: Automated Data Generation for Bimanual Dexterous Manipulation via Imitation Learning Zhenyu Jiang Yuqi Xie K. Lin Zhenjia Xu Weikang Wan Ajay Mandlekar Linxi Fan Yuke Zhu 56 25 0 31 Oct 2024
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards Irmak Güzey Yinlong Dai Georgy Savva Raunaq M. Bhirangi Lerrel Pinto 46 7 0 30 Oct 2024
ReferEverything: Towards Segmenting Everything We Can Speak of in Videos Anurag Bagchi Zhipeng Bao Yu-xiong Wang P. Tokmakov Martial Hebert VOS 42 0 0 30 Oct 2024
Denoising Diffusion Planner: Learning Complex Paths from Low-Quality Demonstrations Michiel Nikken N. Botteghi Wesley Roozing Federico Califano DiffM 43 0 0 28 Oct 2024
One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation Zhendong Wang Zhiyu Li Ajay Mandlekar Zhenjia Xu Jiaojiao Fan ... Yuke Zhu Yogesh Balaji Mingyuan Zhou Xuan Li Yu Zeng 39 16 0 28 Oct 2024
VLMimic: Vision Language Models are Visual Imitation Learner for Fine-grained Actions Guanyan Chen Hao Wu Te Cui Yao Mu Haoyang Lu ... Mengxiao Hu Haizhou Li Y. Li Yi Yang Yufeng Yue VLM 31 3 0 28 Oct 2024
Hamiltonian Score Matching and Generative Flows Peter Holderrieth Yilun Xu Tommi Jaakkola 28 0 0 27 Oct 2024
GHIL-Glue: Hierarchical Control with Filtered Subgoal Images Kyle Hatch Ashwin Balakrishna Oier Mees Suraj Nair Seohong Park ... Masha Itkina Benjamin Eysenbach Sergey Levine Thomas Kollar Benjamin Burchfiel 65 2 0 26 Oct 2024
OGBench: Benchmarking Offline Goal-Conditioned RL Seohong Park Kevin Frans Benjamin Eysenbach Sergey Levine OffRL 56 9 0 26 Oct 2024
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 53 5 0 25 Oct 2024
Visual Imitation Learning of Non-Prehensile Manipulation Tasks with Dynamics-Supervised Models Abdullah Mustafa Ryo Hanai Ixchel Ramirez Floris Erich Ryoichi Nakajo Y. Domae Tetsuya Ogata SSL 40 1 0 25 Oct 2024
Non-rigid Relative Placement through 3D Dense Diffusion Eric Cai Octavian A. Donca Ben Eisner David Held 31 0 0 25 Oct 2024
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation Malek Aburub C. C. Beltran-Hernandez Tatsuya Kamijo Masashi Hamaya 43 5 0 25 Oct 2024
Self-Improving Autonomous Underwater Manipulation Ruoshi Liu Huy Ha Mengxue Hou Shuran Song Carl Vondrick 32 1 0 24 Oct 2024
SkillMimicGen: Automated Demonstration Generation for Efficient Skill Learning and Deployment Caelan Reed Garrett Ajay Mandlekar Bowen Wen Dieter Fox 33 12 0 24 Oct 2024
Versatile Demonstration Interface: Toward More Flexible Robot Demonstration Collection Michael Hagenow Dimosthenis Kontogiorgos Yanwei Wang Julie Shah 59 2 0 24 Oct 2024
SPIRE: Synergistic Planning, Imitation, and Reinforcement Learning for Long-Horizon Manipulation Zihan Zhou Animesh Garg Dieter Fox Caelan Reed Garrett Ajay Mandlekar 45 2 0 23 Oct 2024
X-MOBILITY: End-To-End Generalizable Navigation via World Modeling Wei Liu Huihua Zhao Chenran Li Joydeep Biswas Billy Okal Pulkit Goyal Yan Chang Soha Pouya 24 4 0 23 Oct 2024
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins Venkatesh Pattabiraman Yifeng Cao Siddhant Haldar Lerrel Pinto Raunaq M. Bhirangi 32 5 0 22 Oct 2024