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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
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation Yishu Li Wen Hui Leng Yiming Fang Ben Eisner David Held AI4CE 140 1 0 31 Dec 2024
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations Nimrod Curtis Osher Azulay A. Sintov 170 0 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 120 8 0 23 Dec 2024
Sampling-Based Constrained Motion Planning with Products of Experts Amirreza Razmjoo Teng Xue Suhan Shetty Sylvain Calinon 156 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 170 21 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 190 25 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 144 8 0 18 Dec 2024
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation Kun Wu Chengkai Hou Jiaming Liu Zhengping Che Xiaozhu Ju ... Zhenyu Wang Pengju An Siyuan Qian Shanghang Zhang Jian Tang LM&Ro 242 24 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 151 8 0 17 Dec 2024
Robust Contact-rich Manipulation through Implicit Motor Adaptation Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 193 1 0 16 Dec 2024
Fast and Robust Visuomotor Riemannian Flow Matching Policy Haoran Ding Noémie Jaquier Jan Peters Leonel Rozo 182 4 0 14 Dec 2024
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning Charles Xu Qiyang Li Jianlan Luo Sergey Levine OffRL 147 7 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 169 12 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 129 3 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 125 3 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 189 10 0 09 Dec 2024
ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks Arth Shukla Stone Tao Hao Su 198 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 137 19 0 05 Dec 2024
Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoning Junjie Wen Minjie Zhu Yinlin Zhu Zhibin Tang Jinming Li ... Chengmeng Li Xiaoyu Liu Chaomin Shen Yaxin Peng Feifei Feng 161 22 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 182 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 124 3 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 Hongan Wang 134 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 172 44 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 237 7 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 174 19 0 27 Nov 2024
Unpacking the Individual Components of Diffusion Policy Xiu Yuan 166 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 Han Zhang Xuelong Li Ping Luo AI4CE 219 10 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 173 1 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 219 7 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 147 1 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 188 1 0 22 Nov 2024
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 241 46 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 203 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 119 1 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 146 24 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 144 14 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 145 1 0 18 Nov 2024
Learning Generalizable 3D Manipulation With 10 Demonstrations Yu Ren Yang Cong Ronghan Chen Jiahao Long SSL 111 1 0 15 Nov 2024
VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation Youpeng Wen Junfan Lin Yinlin Zhu Jiawei Han Hang Xu Shen Zhao Xiaodan Liang VGen DiffM 103 5 0 14 Nov 2024
Precision-Focused Reinforcement Learning Model for Robotic Object Pushing Lara Bergmann David P. Leins R. Haschke Klaus Neumann 95 3 0 13 Nov 2024
QuadWBG: Generalizable Quadrupedal Whole-Body Grasping Jilong Wang Javokhirbek Rajabov Chaoyi Xu Yiming Zheng He Wang 121 2 0 11 Nov 2024
Grounding Video Models to Actions through Goal Conditioned Exploration Yunhao Luo Yilun Du LM&Ro VGen 161 5 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 144 4 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 109 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 109 10 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 107 32 0 07 Nov 2024
SEE-DPO: Self Entropy Enhanced Direct Preference Optimization Shivanshu Shekhar Shreyas Singh Tong Zhang 76 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 89 6 0 06 Nov 2024
Problem Space Transformations for Out-of-Distribution Generalisation in Behavioural Cloning Kiran Doshi Marco Bagatella Stelian Coros 72 1 0 06 Nov 2024
VQ-ACE: Efficient Policy Search for Dexterous Robotic Manipulation via Action Chunking Embedding Chenyu Yang Davide Liconti Robert K. Katzschmann 108 2 0 05 Nov 2024