Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

Papers citing "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"

50 / 806 papers shown

Title
Understanding and Imitating Human-Robot Motion with Restricted Visual Fields Maulik Bhatt HongHao Zhen Monroe Kennedy III Negar Mehr 29 0 0 07 Oct 2024
Unpacking Failure Modes of Generative Policies: Runtime Monitoring of Consistency and Progress Christopher Agia Rohan Sinha Jingyun Yang Zi-ang Cao Rika Antonova Marco Pavone Jeannette Bohg 34 7 0 06 Oct 2024
GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMs Pu Hua Minghuan Liu Annabella Macaluso Yunfeng Lin Weinan Zhang Huazhe Xu Lirui Wang LM&Ro LRM 42 14 0 04 Oct 2024
CLoSD: Closing the Loop between Simulation and Diffusion for multi-task character control Guy Tevet Sigal Raab S. Cohan Daniele Reda Zhengyi Luo Xue Bin Peng Amit H. Bermano M. van de Panne 46 15 0 04 Oct 2024
Autoregressive Action Sequence Learning for Robotic Manipulation Xinyu Zhang Yuhan Liu Haonan Chang Liam Schramm Abdeslam Boularias 41 10 0 04 Oct 2024
Real-World Cooking Robot System from Recipes Based on Food State Recognition Using Foundation Models and PDDL Naoaki Kanazawa Kento Kawaharazuka Yoshiki Obinata Kei Okada Masayuki Inaba LM&Ro 32 0 0 03 Oct 2024
Grounded Answers for Multi-agent Decision-making Problem through Generative World Model Zeyang Liu Xinrui Yang Shiguang Sun Long Qian Lipeng Wan Xingyu Chen Xuguang Lan 22 3 0 03 Oct 2024
Diffusion Meets Options: Hierarchical Generative Skill Composition for Temporally-Extended Tasks Zeyu Feng Hao Luan Kevin Yuchen Ma Harold Soh 32 2 0 03 Oct 2024
QDGset: A Large Scale Grasping Dataset Generated with Quality-Diversity J. Huber François Hélénon Mathilde Kappel Ignacio de Loyola Páez-Ubieta S. T. Puente Pablo Gil F. B. Amar Stéphane Doncieux SLR 35 1 0 03 Oct 2024
Equality Constrained Diffusion for Direct Trajectory Optimization Vince Kurtz Joel W. Burdick 60 1 0 02 Oct 2024
Topological mapping for traversability-aware long-range navigation in off-road terrain J. Tremblay Julie Alhosh Louis Petit F. Lotfi Lara Landauro D. Meger 29 0 0 02 Oct 2024
Robo-MUTUAL: Robotic Multimodal Task Specification via Unimodal Learning Jianxiong Li Zhihao Wang Jinliang Zheng Xiaoai Zhou Guanming Wang ... Yu Liu Jingjing Liu Ya-Qin Zhang Junzhi Yu Xianyuan Zhan 43 2 0 02 Oct 2024
Sampling from Energy-based Policies using Diffusion V. Jain Tara Akhound-Sadegh Siamak Ravanbakhsh DiffM 40 1 0 02 Oct 2024
Robust Imitation Learning for Mobile Manipulator Focusing on Task-Related Viewpoints and Regions Yutaro Ishida Yuki Noguchi Takayuki Kanai Kazuhiro Shintani Hiroshi Bito 31 1 0 02 Oct 2024
Effective Tuning Strategies for Generalist Robot Manipulation Policies Wenbo Zhang Yang Li Yanyuan Qiao Siyuan Huang Jiajun Liu Feras Dayoub Xiao Ma Lingqiao Liu 26 0 0 02 Oct 2024
Denoising with a Joint-Embedding Predictive Architecture Dengsheng Chen Jie Hu Xiaoming Wei Enhua Wu DiffM 52 2 0 02 Oct 2024
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy Ricardo Garcia Shizhe Chen Cordelia Schmid LM&Ro 42 7 0 02 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 43 0 0 01 Oct 2024
Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction Hyogo Hiruma Hiroshi Ito T. Ogata 23 0 0 01 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Zhiao Huang Roberto Calandra Rui Chen Shan Luo Hao Su 21 28 0 01 Oct 2024
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly Johannes Lachner F. Tessari A. Michael West Jr. Moses C. Nah Neville Hogan 31 0 0 01 Oct 2024
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers Lirui Wang Xinlei Chen Jialiang Zhao Kaiming He 36 34 0 30 Sep 2024
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization Jingjing Chen Hongjie Fang Hao-Shu Fang Cewu Lu 40 2 0 30 Sep 2024
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner Chenyou Fan Chenjia Bai Zhao Shan Haoran He Yang Zhang Zhen Wang 33 3 0 30 Sep 2024
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies Ruiyu Wang Zheyu Zhuang Shutong Jin Nils Ingelhag Danica Kragic Florian T. Pokorny 33 0 0 30 Sep 2024
RoboNurse-VLA: Robotic Scrub Nurse System based on Vision-Language-Action Model Shunlei Li Jin Wang Rui Dai Wanyu Ma Wing Yin Ng Yingbai Hu Zheng Li 26 2 0 29 Sep 2024
FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation Litao Liu Wentao Wang Yifan Han Zhuoli Xie Pengfei Yi Junyan Li Yi Qin Wenzhao Lian 41 2 0 29 Sep 2024
Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning Zixuan Wu Z. Zaidi Adithya Patil Qingyu Xiao Matthew C. Gombolay 75 1 0 29 Sep 2024
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset Ziniu Wu Tianyu Wang Zhaxizhuoma Chuyue Guan Zhongjie Jia ... Zhigang Wang Nieqing Cao Yan Ding Bin Zhao Xuelong Li 35 1 0 29 Sep 2024
Generalizing Consistency Policy to Visual RL with Prioritized Proximal Experience Regularization Haoran Li Zhennan Jiang Yuhui Chen Dongbin Zhao OffRL 28 2 0 28 Sep 2024
RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution Wonsuhk Jung Dennis Anthony Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Matthew Bronars Danfei Xu Shreyas Kousik 36 0 0 28 Sep 2024
An Augmented Reality Interface for Teleoperating Robot Manipulators Aliyah Smith Monroe Kennedy III 40 1 0 27 Sep 2024
Learning from Demonstration with Implicit Nonlinear Dynamics Models Peter David Fagan Subramanian Ramamoorthy 171 0 0 27 Sep 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 45 4 0 27 Sep 2024
Flatñ'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation Lipeng Zhuang Shiyu Fan Yingdong Ru Florent P. Audonnet Paul Henderson Gerardo Aragon-Camarasa 37 1 0 26 Sep 2024
Joint Localization and Planning using Diffusion Lukas Lao Beyer S. Karaman 38 0 0 26 Sep 2024
Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning Tianhao Wu Jinzhou Li Jiyao Zhang Mingdong Wu Hao Dong SSL 39 5 0 26 Sep 2024
StackGen: Generating Stable Structures from Silhouettes via Diffusion Luzhe Sun Takuma Yoneda Samuel Wheeler Tianchong Jiang Matthew R. Walter DiffM 39 0 0 26 Sep 2024
Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation Ian Chuang Andrew Lee Dechen Gao M-Mahdi Naddaf-Sh Iman Soltani 43 7 0 26 Sep 2024
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly Jiankai Sun Aidan Curtis Yang You Yan Xu Michael Koehle Leonidas J. Guibas Sachin Chitta Mac Schwager Hui Li 40 2 0 24 Sep 2024
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph Utkarsh Aashu Mishra Yongxin Chen Danfei Xu LRM 36 4 0 24 Sep 2024
Hypothesis Clustering and Merging: Novel MultiTalker Speech Recognition with Speaker Tokens Yosuke Kashiwagi Hayato Futami E. Tsunoo Siddhant Arora Shinji Watanabe 57 1 0 24 Sep 2024
XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning Prabin Kumar Rath Nakul Gopalan 32 0 0 23 Sep 2024
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation W. V. D. Bogert Madhavan Iyengar Nima Fazeli 32 1 0 23 Sep 2024
RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning Yinpei Dai Jayjun Lee Nima Fazeli Joyce Chai 41 11 0 23 Sep 2024
DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization Nayoung Oh Jaehyeong Jang Moonkyeong Jung Daehyung Park 196 0 0 23 Sep 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies Haojie Huang Haotian Liu Dian Wang Robin Walters Robert Platt 3DPC 145 2 0 23 Sep 2024
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance Kin Man Lee Sean Ye Qingyu Xiao Zixuan Wu Z. Zaidi David B. DÁmbrosio Pannag R. Sanketi Matthew Gombolay 80 1 0 23 Sep 2024
Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation Minjie Zhu Yichen Zhu Jinming Li Junjie Wen Zhiyuan Xu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang 38 13 0 22 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 54 7 0 22 Sep 2024