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
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
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning Huang Huang Balakumar Sundaralingam Arsalan Mousavian Adithyavairavan Murali Ken Goldberg Dieter Fox DiffM 36 5 0 22 Oct 2024
DARE: Diffusion Policy for Autonomous Robot Exploration Yuhong Cao Jeric Lew Jingsong Liang Jin Cheng Guillaume Sartoretti 36 2 0 22 Oct 2024
Generative AI Agents in Autonomous Machines: A Safety Perspective Jason J. Jabbour Vijay Janapa Reddi AI4CE 46 4 0 20 Oct 2024
CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation Shangning Xia Hongjie Fang Hao-Shu Fang Cewu Lu CML 37 5 0 19 Oct 2024
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks Ryan Diaz Adam Imdieke Vivek Veeriah Karthik Desingh 23 0 0 19 Oct 2024
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards Lukas Brunke Yanni Zhang Ralf Romer Jack Naimer Nikola Staykov Siqi Zhou Angela P. Schoellig 59 4 0 19 Oct 2024
Beyond Autoregression: Discrete Diffusion for Complex Reasoning and Planning Jiacheng Ye Jiahui Gao Shansan Gong Lin Zheng Xin Jiang Zhiyu Li Lingpeng Kong DiffM LRM 66 15 0 18 Oct 2024
Diff-DAgger: Uncertainty Estimation with Diffusion Policy for Robotic Manipulation Sung-Wook Lee Yen-Ling Kuo Yen-Ling Kuo 29 4 0 18 Oct 2024
Latent Weight Diffusion: Generating Policies from Trajectories Shashank Hegde G. Salhotra Gaurav Sukhatme 25 0 0 17 Oct 2024
Vision-Language-Action Model and Diffusion Policy Switching Enables Dexterous Control of an Anthropomorphic Hand Cheng Pan Kai Junge Josie Hughes 44 5 0 17 Oct 2024
Guided Reinforcement Learning for Robust Multi-Contact Loco-Manipulation Jean-Pierre Sleiman Mayank Mittal Marco Hutter 32 4 0 17 Oct 2024
Just Add Force for Contact-Rich Robot Policies William Xie Stefan Caldararu N. Correll OffRL 32 0 0 17 Oct 2024
Reward-free World Models for Online Imitation Learning Shangzhe Li Zhiao Huang H. Su OffRL 67 1 0 17 Oct 2024
Diffusing States and Matching Scores: A New Framework for Imitation Learning Runzhe Wu Yiding Chen Gokul Swamy Kianté Brantley Wen Sun DiffM 44 3 0 17 Oct 2024
Preference Aligned Diffusion Planner for Quadrupedal Locomotion Control Xinyi Yuan Zhiwei Shang Zifan Wang Chenkai Wang Zhao Shan Zhenchao Qi Meixin Zhu Chenjia Bai Weiwei Wan Kensuke Harada 41 3 0 17 Oct 2024
Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance Mitsuhiko Nakamoto Oier Mees Aviral Kumar Sergey Levine OffRL 79 13 0 17 Oct 2024
RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation Shivam Vats Devesh K. Jha Maxim Likhachev Oliver Kroemer Diego Romeres OffRL 29 0 0 17 Oct 2024
One Step Diffusion via Shortcut Models Kevin Frans Danijar Hafner Sergey Levine Pieter Abbeel VLM DiffM 39 25 0 16 Oct 2024
Imagine2Servo: Intelligent Visual Servoing with Diffusion-Driven Goal Generation for Robotic Tasks Pranjali Pathre Gunjan Gupta M. N. Qureshi Mandyam Brunda Samarth Brahmbhatt K. M. Krishna VGen 34 0 0 16 Oct 2024
Off-dynamics Conditional Diffusion Planners Wen Zheng Terence Ng Jianda Chen Tianwei Zhang DiffM OffRL 37 0 0 16 Oct 2024
The State of Robot Motion Generation Kostas E. Bekris Joe H. Doerr Patrick Meng Sumanth Tangirala 3DV 36 2 0 16 Oct 2024
Affordance-Centric Policy Learning: Sample Efficient and Generalisable Robot Policy Learning using Affordance-Centric Task Frames Krishan Rana Jad Abou-Chakra Sourav Garg Robert Lee Ian Reid Niko Suenderhauf 24 4 0 15 Oct 2024
Generalizable Spacecraft Trajectory Generation via Multimodal Learning with Transformers Davide Celestini Amirhossein Afsharrad Daniele Gammelli T. Guffanti G. Zardini Sanjay Lall Elisa Capello Simone DÁmico Marco Pavone 44 1 0 15 Oct 2024
SDS -- See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration Jeffrey Li Maria Stamatopoulou Dimitrios Kanoulas 26 1 0 15 Oct 2024
Hessian-Informed Flow Matching Christopher Iliffe Sprague Arne Elofsson Hossein Azizpour 32 0 0 15 Oct 2024
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes Sixu Yan Zeyu Zhang Muzhi Han Zaijin Wang Qi Xie Zhitian Li Zhehan Li Hangxin Liu Xinggang Wang Song-Chun Zhu 57 4 0 15 Oct 2024
DeformPAM: Data-Efficient Learning for Long-horizon Deformable Object Manipulation via Preference-based Action Alignment Wendi Chen Han Xue Fangyuan Zhou Yuan Fang Cewu Lu 44 1 0 15 Oct 2024
Incorporating Task Progress Knowledge for Subgoal Generation in Robotic Manipulation through Image Edits Xuhui Kang Yen-Ling Kuo 41 3 0 14 Oct 2024
Boosting Camera Motion Control for Video Diffusion Transformers Soon Yau Cheong Duygu Ceylan Armin Mustafa Andrew Gilbert C. Huang DiffM VGen 67 13 0 14 Oct 2024
The Ingredients for Robotic Diffusion Transformers Sudeep Dasari Oier Mees Sebastian Zhao Mohan Kumar Srirama Sergey Levine 56 20 0 14 Oct 2024
Language-Model-Assisted Bi-Level Programming for Reward Learning from Internet Videos Harsh Mahesheka Zhixian Xie Zhigang Wang Wanxin Jin 29 0 0 11 Oct 2024
Conformalized Interactive Imitation Learning: Handling Expert Shift and Intermittent Feedback Michelle Zhao Reid G. Simmons H. Admoni Aaditya Ramdas Andrea Bajcsy 49 4 0 11 Oct 2024
Zero-Shot Offline Imitation Learning via Optimal Transport Thomas Rupf Marco Bagatella Nico Gürtler Jonas Frey Georg Martius OffRL 174 0 0 11 Oct 2024
On the Evaluation of Generative Robotic Simulations Feng Chen Botian Xu Pu Hua Peiqi Duan Yanchao Yang Yi Ma Huazhe Xu VGen 42 0 0 10 Oct 2024
ForceMimic: Force-Centric Imitation Learning with Force-Motion Capture System for Contact-Rich Manipulation Wenhai Liu Junbo Wang Yiming Wang Weiming Wang Cewu Lu 39 14 0 10 Oct 2024
RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation Songming Liu Lingxuan Wu Bangguo Li Hengkai Tan Huayu Chen Zhengyi Wang Ke Xu Hang Su Jun Zhu 40 78 0 10 Oct 2024
Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers Jianxin Bi Kelvin Lim Kaiqi Chen Yifei Huang Harold Soh 41 0 0 10 Oct 2024
SPA: 3D Spatial-Awareness Enables Effective Embodied Representation Haoyi Zhu Honghui Yang Yating Wang Jiange Yang Limin Wang Tong He 3DH 51 6 0 10 Oct 2024
Towards Synergistic, Generalized, and Efficient Dual-System for Robotic Manipulation Qingwen Bu Hongyang Li Li Chen Jisong Cai Jia Zeng Heming Cui Maoqing Yao Yu Qiao 55 4 0 10 Oct 2024
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation Shaunak A. Mehta Rana Soltani Zarrin 31 0 0 09 Oct 2024
Combining Planning and Diffusion for Mobility with Unknown Dynamics Yajvan Ravan Zhutian Yang Tao Chen Tomás Lozano-Pérez Leslie Pack Kaelbling 47 4 0 09 Oct 2024
Learning the Generalizable Manipulation Skills on Soft-body Tasks via Guided Self-attention Behavior Cloning Policy XueTao Li Fang Gao Jun Yu Shaodong Li Feng Shuang LM&Ro 30 0 0 08 Oct 2024
Diffusion Imitation from Observation Bo-Ruei Huang Chun-Kai Yang Chun-Mao Lai Dai-Jie Wu Shao-Hua Sun 44 4 0 07 Oct 2024
Diffusion Model Predictive Control Guangyao Zhou Sivaramakrishnan Swaminathan Rajkumar Vasudeva Raju J. S. Guntupalli Wolfgang Lehrach Joseph Ortiz Antoine Dedieu Miguel Lázaro-Gredilla Kevin P. Murphy 31 6 0 07 Oct 2024
HE-Drive: Human-Like End-to-End Driving with Vision Language Models Junming Wang Xingyu Zhang Zebin Xing Songen Gu Xiaoyang Guo Yang Hu Ziying Song Qian Zhang Xiaoxiao Long Wei Yin 51 9 0 07 Oct 2024
Active Fine-Tuning of Generalist Policies Marco Bagatella Jonas Hübotter Georg Martius Andreas Krause 37 0 0 07 Oct 2024
Control-oriented Clustering of Visual Latent Representation Han Qi Haocheng Yin Heng Yang SSL 58 2 0 07 Oct 2024