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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
Can We Detect Failures Without Failure Data? Uncertainty-Aware Runtime Failure Detection for Imitation Learning Policies Chen Xu Tony Nguyen Emma Dixon Christopher Rodriguez Patrick Miller Robert Lee Paarth Shah Rares Andrei Ambrus Haruki Nishimura Masha Itkina OffRL 261 3 0 11 Mar 2025
TLA: Tactile-Language-Action Model for Contact-Rich Manipulation Peng Hao Chaofan Zhang Dingzhe Li Xiaoge Cao Xiaoshuai Hao Shaowei Cui Shuo Wang LM&Ro 111 11 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
How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learning Haozhuo Li Yuchen Cui Dorsa Sadigh 107 2 0 10 Mar 2025
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation Hanzhi Chen Boyang Sun Anran Zhang Marc Pollefeys Stefan Leutenegger LM&Ro 164 0 0 10 Mar 2025
iManip: Skill-Incremental Learning for Robotic Manipulation Zexin Zheng Jia-Feng Cai Xiao-Ming Wu Yi-Lin Wei Yu-Ming Tang Wei-Shi Zheng CLL 107 1 0 10 Mar 2025
Denoising Hamiltonian Network for Physical Reasoning Congyue Deng Brandon Yushan Feng Cecilia Garraffo Alan Garbarz Robin Walters William T. Freeman Leonidas Guibas Kaiming He AI4CE 97 0 0 10 Mar 2025
PointVLA: Injecting the 3D World into Vision-Language-Action Models Chengmeng Li Junjie Wen Yan Peng Chaomin Shen Feifei Feng Yinlin Zhu 3DPC 164 9 0 10 Mar 2025
RoboCopilot: Human-in-the-loop Interactive Imitation Learning for Robot Manipulation Philipp Wu Yide Shentu Qiayuan Liao Ding Jin Menglong Guo Koushil Sreenath Xingyu Lin Pieter Abbeel 89 2 0 10 Mar 2025
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions Daniel Morton Marco Pavone 86 3 0 09 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities Yunfan Jiang Ruohan Zhang J. Wong Chen Wang Yanjie Ze Hang Yin Cem Gokmen Shuran Song Jiajun Wu L. Fei-Fei 141 9 0 07 Mar 2025
GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving Zebin Xing Xinsong Zhang Yang Hu Bo Jiang Tong He Qian Zhang Xiaoxiao Long Wei Yin 126 11 0 07 Mar 2025
Discrete Contrastive Learning for Diffusion Policies in Autonomous Driving Kalle Kujanpää Daulet Baimukashev Farzeen Munir Shoaib Azam Tomasz Piotr Kucner Joni Pajarinen Ville Kyrki 95 0 0 07 Mar 2025
VLA Model-Expert Collaboration for Bi-directional Manipulation Learning Tian-Yu Xiang Ao-Qun Jin Xiao-Hu Zhou Mei-Jiang Gui Xiao-Liang Xie ... Shuang-Yi Wang Sheng-Bin Duang Si-Cheng Wang Zheng Lei Z. Hou 112 2 0 06 Mar 2025
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning Xi Ye Rui Heng Yang Jun Jin Yiming Li Amir Rasouli 75 0 0 06 Mar 2025
SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning Borong Zhang Yuhao Zhang Yalan Qin Yingshan Lei Josef Dai Yuanpei Chen Yaodong Yang 130 4 0 05 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey Kun Zhang Peng Yun Jun Cen Junhao Cai DiDi Zhu ... Qifeng Chen Jia Pan Wei Zhang Bo Yang Hua Chen 185 1 0 05 Mar 2025
Curating Demonstrations using Online Experience Annie S. Chen Alec M. Lessing Yuejiang Liu Chelsea Finn 126 3 0 05 Mar 2025
AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons Hongjie Fang Chenxi Wang Yiming Wang J. Chen Shangning Xia ... Xinyu Zhan Lixin Yang Weiming Wang Cewu Lu Hao-Shu Fang 187 2 0 05 Mar 2025
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction Huang Huang Fangchen Liu Letian Fu Tingfan Wu Mustafa Mukadam Jitendra Malik Ken Goldberg Pieter Abbeel LM&Ro VLM 184 10 0 05 Mar 2025
Controllable Motion Generation via Diffusion Modal Coupling Luobin Wang Hongzhan Yu Chenning Yu Sicun Gao Henrik I. Christensen DiffM 114 0 0 04 Mar 2025
Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation Junjie Zhu Huayu Liu Jin Wang Bangrong Wen Kaixiang Huang Xiaofei Li Haiyun Zhan Guodong Lu 106 0 0 04 Mar 2025
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning Qiyang Yan Zihan Ding Xin Zhou Adam J. Spiers 81 1 0 04 Mar 2025
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation Han Xue Jieji Ren Wendi Chen Gu Zhang Yuan Fang Guoying Gu Huazhe Xu Cewu Lu 105 12 0 04 Mar 2025
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks Wei Chen Kelin Li Dongmyoung Lee Xiaoshuai Chen Rui Zong Petar Kormushev AI4CE 86 1 0 04 Mar 2025
Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion Piotr Koczy Michael C. Welle Danica Kragic 89 0 0 04 Mar 2025
Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding Wenxuan Song Jiayi Chen Pengxiang Ding Han Zhao Wei Zhao Zhide Zhong Zongyuan Ge Jun Ma Haoang Li 114 7 0 04 Mar 2025
Diverse Controllable Diffusion Policy with Signal Temporal Logic Yue Meng Chuchu fan 170 2 0 04 Mar 2025
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 144 1 0 03 Mar 2025
DPR: Diffusion Preference-based Reward for Offline Reinforcement Learning Teng Pang Bingzheng Wang Guoqiang Wu Yilong Yin OffRL 141 0 0 03 Mar 2025
FRMD: Fast Robot Motion Diffusion with Consistency-Distilled Movement Primitives for Smooth Action Generation Xirui Shi Jun Jin DiffM VGen 122 0 0 03 Mar 2025
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer Chengyi Xing Hao Li Yi-Lin Wei Tian-Ao Ren Tianyu Tu Yuhao Lin Elizabeth Schumann Wei-Shi Zheng M. Cutkosky 110 0 0 03 Mar 2025
DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models Ziyu Wan Lin Zhao DiffM 166 0 0 03 Mar 2025
Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations Chonlam Ho Jianshu Hu Haoran Wang Qi Dou Yutong Ban MedIm 136 1 0 03 Mar 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands Uksang Yoo Jonathan M Francis Jean Oh Jeffrey Ichnowski 156 1 0 03 Mar 2025
Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer Marion Lepert Ria Doshi Jeannette Bohg 91 4 0 02 Mar 2025
Phantom: Training Robots Without Robots Using Only Human Videos Marion Lepert Jiaying Fang Jeannette Bohg OffRL 131 12 0 02 Mar 2025
Falcon: 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 151 1 0 01 Mar 2025
ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion Federico Pizarro Bejarano Bryson Jones Daniel Pastor Moreno J. Bowkett Paul Backes Angela P. Schoellig 55 0 0 28 Feb 2025
Unified Video Action Model Shuang Li Yihuai Gao Dorsa Sadigh Shuran Song VGen 162 8 0 28 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids Toru Lin Kartik Sachdev Linxi Fan Jitendra Malik Yuke Zhu 130 11 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 125 3 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 Dianbo Sui DiffM 107 4 0 27 Feb 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization Lujie Yang H.J. Terry Suh Tong Zhao B. P. Graesdal Tarik Kelestemur Jiuguang Wang Tao Pang Russ Tedrake 160 5 0 27 Feb 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation Siddhant Haldar Lerrel Pinto 3DPC 136 6 0 27 Feb 2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models Zhanpeng He Yifeng Cao M. Ciocarlie 304 1 0 26 Feb 2025
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration Minjie Zhu Yinlin Zhu Jinming Li Zhongyi Zhou Junjie Wen Xiaoyu Liu Yaxin Peng Chaomin Shen Feifei Feng LM&Ro 153 6 0 26 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 152 23 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 84 0 0 25 Feb 2025
Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze and Bottleneck Ryo Takizawa Izumi Karino Koki Nakagawa Yoshiyuki Ohmura Yasuo Kuniyoshi 132 1 0 25 Feb 2025