v1v2v3 (latest)

SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution

18 December 2023

Zhixuan Liang

Yao Mu

Hengbo Ma

Masayoshi Tomizuka

Mingyu Ding

Ping Luo

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Papers citing "SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution"

29 / 29 papers shown

Title
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 145 0 0 10 Mar 2025
State Combinatorial Generalization In Decision Making With Conditional Diffusion Models Xintong Duan Yutong He Fahim Tajwar Wen-Tse Chen Ruslan Salakhutdinov Jeff Schneider OffRL AI4CE 145 1 0 22 Jan 2025
AnyBimanual: Transferring Unimanual Policy for General Bimanual Manipulation Guanxing Lu Tengbo Yu Haoyuan Deng Season Si Chen Yansong Tang Ziwei Wang 140 3 0 09 Dec 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 170 10 0 27 Nov 2024
A Probabilistic Model for Skill Acquisition with Switching Latent Feedback Controllers Juyan Zhang Dana Kulic Michael Burke 77 0 0 18 Oct 2024
Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models João Carvalho An T. Le Mark Baierl Dorothea Koert Jan Peters DiffM 80 115 0 03 Aug 2023
MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RL Fei Ni Jianye Hao Yao Mu Yifu Yuan Yan Zheng Bin Wang Zhixuan Liang DiffM OffRL 100 49 0 31 May 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 349 1,242 0 07 Mar 2023
AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners Zhixuan Liang Yao Mu Mingyu Ding Fei Ni Masayoshi Tomizuka Ping Luo 131 110 0 03 Feb 2023
Is Conditional Generative Modeling all you need for Decision-Making? Anurag Ajay Yilun Du Abhi Gupta J. Tenenbaum Tommi Jaakkola Pulkit Agrawal DiffM 160 408 0 28 Nov 2022
Classifier-Free Diffusion Guidance Jonathan Ho Tim Salimans FaML 196 3,971 0 26 Jul 2022
Prompting Decision Transformer for Few-Shot Policy Generalization Mengdi Xu Songlin Yang Shun Zhang Yuchen Lu Ding Zhao J. Tenenbaum Chuang Gan OffRL 85 148 0 27 Jun 2022
Do As I Can, Not As I Say: Grounding Language in Robotic Affordances Michael Ahn Anthony Brohan Noah Brown Yevgen Chebotar Omar Cortes ... Ted Xiao Peng Xu Sichun Xu Mengyuan Yan Andy Zeng LM&Ro 195 1,988 0 04 Apr 2022
R3M: A Universal Visual Representation for Robot Manipulation Suraj Nair Aravind Rajeswaran Vikash Kumar Chelsea Finn Abhi Gupta LM&Ro 101 587 0 23 Mar 2022
Learning Language-Conditioned Robot Behavior from Offline Data and Crowd-Sourced Annotation Suraj Nair E. Mitchell Kevin Chen Brian Ichter Silvio Savarese Chelsea Finn LM&Ro OffRL 119 160 0 02 Sep 2021
IQ-Learn: Inverse soft-Q Learning for Imitation Divyansh Garg Shuvam Chakraborty Chris Cundy Jiaming Song Matthieu Geist Stefano Ermon 89 189 0 23 Jun 2021
Diffusion Models Beat GANs on Image Synthesis Prafulla Dhariwal Alex Nichol 271 7,958 0 11 May 2021
Hierarchical Reinforcement Learning By Discovering Intrinsic Options Jesse Zhang Haonan Yu Wenyuan Xu BDL 206 82 0 16 Jan 2021
Scalable Multi-Task Imitation Learning with Autonomous Improvement Avi Singh Eric Jang A. Irpan Daniel Kappler Murtaza Dalal Sergey Levine Mohi Khansari Chelsea Finn 97 34 0 25 Feb 2020
DistilBERT, a distilled version of BERT: smaller, faster, cheaper and lighter Victor Sanh Lysandre Debut Julien Chaumond Thomas Wolf 255 7,554 0 02 Oct 2019
Language as an Abstraction for Hierarchical Deep Reinforcement Learning Yiding Jiang S. Gu Kevin Patrick Murphy Chelsea Finn OffRL 57 225 0 18 Jun 2019
Sub-policy Adaptation for Hierarchical Reinforcement Learning Alexander C. Li Carlos Florensa I. Clavera Pieter Abbeel 68 74 0 13 Jun 2019
Data-Efficient Hierarchical Reinforcement Learning Ofir Nachum S. Gu Honglak Lee Sergey Levine OffRL 102 812 0 21 May 2018
Group Normalization Yuxin Wu Kaiming He 245 3,672 0 22 Mar 2018
Neural Discrete Representation Learning Aaron van den Oord Oriol Vinyals Koray Kavukcuoglu BDL SSL OCL 233 5,079 0 02 Nov 2017
One-Shot Visual Imitation Learning via Meta-Learning Chelsea Finn Tianhe Yu Tianhao Zhang Pieter Abbeel Sergey Levine SSL 126 566 0 14 Sep 2017
One-Shot Imitation Learning Yan Duan Marcin Andrychowicz Bradly C. Stadie Jonathan Ho Jonas Schneider Ilya Sutskever Pieter Abbeel Wojciech Zaremba OffRL 86 689 0 21 Mar 2017
Generative Adversarial Imitation Learning Jonathan Ho Stefano Ermon GAN 162 3,125 0 10 Jun 2016
A Reduction of Imitation Learning and Structured Prediction to No-Regret Online Learning Stéphane Ross Geoffrey J. Gordon J. Andrew Bagnell OffRL 254 3,238 0 02 Nov 2010