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DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization

23 September 2024

Papers citing "DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization"

45 / 45 papers shown

Title
MILES: Making Imitation Learning Easy with Self-Supervision Georgios Papagiannis Edward Johns VLM SSL 109 5 0 25 Oct 2024
MaIL: Improving Imitation Learning with Mamba Xiaogang Jia Qian Wang Atalay Donat Bowen Xing Ge Li Hongyi Zhou Onur Celik Denis Blessing Rudolf Lioutikov Gerhard Neumann Mamba 91 11 0 12 Jun 2024
RoboMamba: Multimodal State Space Model for Efficient Robot Reasoning and Manipulation Jiaming Liu Mengzhen Liu Zhenyu Wang Lily Lee Kaichen Zhou Pengju An Senqiao Yang Renrui Zhang Yandong Guo Shanghang Zhang LM&Ro LRM Mamba 90 18 0 06 Jun 2024
Transformers are SSMs: Generalized Models and Efficient Algorithms Through Structured State Space Duality Tri Dao Albert Gu Mamba 119 535 0 31 May 2024
Octo: An Open-Source Generalist Robot Policy Octo Model Team Dibya Ghosh Homer Walke Karl Pertsch Kevin Black ... Quan Vuong Ted Xiao Dorsa Sadigh Chelsea Finn Sergey Levine 203 452 0 20 May 2024
HumMUSS: Human Motion Understanding using State Space Models Arnab Kumar Mondal Stefano Alletto Denis Tome 82 4 0 16 Apr 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 233 226 0 19 Mar 2024
Motion Mamba: Efficient and Long Sequence Motion Generation with Hierarchical and Bidirectional Selective SSM Zeyu Zhang Akide Liu Ian Reid Richard Hartley Bohan Zhuang Hao Tang Mamba 97 70 0 12 Mar 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 106 80 0 05 Mar 2024
Articulated Object Manipulation with Coarse-to-fine Affordance for Mitigating the Effect of Point Cloud Noise Suhan Ling Yian Wang Shiguang Wu Yuzheng Zhuang Tianyi Xu Yu Li Chang-rui Liu Hao Dong 3DPC 93 16 0 28 Feb 2024
Scalable Diffusion Models with State Space Backbone Zhengcong Fei Mingyuan Fan Changqian Yu Junshi Huang 125 40 0 08 Feb 2024
Mamba: Linear-Time Sequence Modeling with Selective State Spaces Albert Gu Tri Dao Mamba 150 2,786 0 01 Dec 2023
Diffusion Models Without Attention Jing Nathan Yan Jiatao Gu Alexander M. Rush 81 68 0 30 Nov 2023
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models Utkarsh Aashu Mishra Shangjie Xue Yongxin Chen Danfei Xu LRM 81 73 0 13 Oct 2023
Open X-Embodiment: Robotic Learning Datasets and RT-X Models Open X-Embodiment Collaboration Abby OÑeill Abdul Rehman Abhinav Gupta Abhiram Maddukuri ... Zhuo Xu Zichen Jeff Cui Zichen Zhang Zipeng Fu Zipeng Lin LM&Ro 171 532 0 13 Oct 2023
RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Xi Chen ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro LRM 198 1,291 0 28 Jul 2023
Waypoint-Based Imitation Learning for Robotic Manipulation Lu Shi Archit Sharma Tony Zhao Chelsea Finn 109 60 0 26 Jul 2023
Act3D: 3D Feature Field Transformers for Multi-Task Robotic Manipulation Théophile Gervet Zhou Xian N. Gkanatsios Katerina Fragkiadaki 114 75 0 30 Jun 2023
HYDRA: Hybrid Robot Actions for Imitation Learning Suneel Belkhale Yuchen Cui Dorsa Sadigh 75 41 0 29 Jun 2023
Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware Tony Zhao Vikash Kumar Sergey Levine Chelsea Finn 111 646 0 23 Apr 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
MimicPlay: Long-Horizon Imitation Learning by Watching Human Play Chen Wang Linxi Fan Jiankai Sun Ruohan Zhang Li Fei-Fei Danfei Xu Yuke Zhu Anima Anandkumar 128 198 0 24 Feb 2023
Scalable Diffusion Models with Transformers William S. Peebles Saining Xie GNN 120 2,436 0 19 Dec 2022
RT-1: Robotics Transformer for Real-World Control at Scale Anthony Brohan Noah Brown Justice Carbajal Yevgen Chebotar Joseph Dabis ... Ted Xiao Peng Xu Sichun Xu Tianhe Yu Brianna Zitkovich LM&Ro 138 1,159 0 13 Dec 2022
Rank-N-Contrast: Learning Continuous Representations for Regression Kaiwen Zha Peng Cao Jeany Son Yuzhe Yang Dina Katabi CML 123 42 0 03 Oct 2022
Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulation Mohit Shridhar Lucas Manuelli Dieter Fox LM&Ro 277 501 0 12 Sep 2022
Diffusion-based Time Series Imputation and Forecasting with Structured State Space Models Juan Miguel Lopez Alcaraz Nils Strodthoff DiffM 79 176 0 19 Aug 2022
Behavior Transformers: Cloning $k$ modes with one stone Nur Muhammad (Mahi) Shafiullah Zichen Jeff Cui Ariuntuya Altanzaya Lerrel Pinto OffRL 74 240 0 22 Jun 2022
Planning with Diffusion for Flexible Behavior Synthesis Michael Janner Yilun Du J. Tenenbaum Sergey Levine DiffM 320 702 0 20 May 2022
It's Raw! Audio Generation with State-Space Models Karan Goel Albert Gu Chris Donahue Christopher Ré 63 193 0 20 Feb 2022
Efficiently Modeling Long Sequences with Structured State Spaces Albert Gu Karan Goel Christopher Ré 217 1,829 0 31 Oct 2021
Implicit Behavioral Cloning Peter R. Florence Corey Lynch Andy Zeng Oscar Ramirez Ayzaan Wahid Laura Downs Adrian S. Wong Johnny Lee Igor Mordatch Jonathan Tompson OffRL 121 391 0 01 Sep 2021
Coarse-to-Fine Q-attention: Efficient Learning for Visual Robotic Manipulation via Discretisation Stephen James Kentaro Wada Tristan Laidlow Andrew J. Davison 81 134 0 23 Jun 2021
Coarse-to-Fine for Sim-to-Real: Sub-Millimetre Precision Across Wide Task Spaces Eugene Valassakis Norman Di Palo Edward Johns 67 17 0 24 May 2021
Coarse-to-Fine Imitation Learning: Robot Manipulation from a Single Demonstration Edward Johns SSL 77 131 0 13 May 2021
Benchmarking Off-The-Shelf Solutions to Robotic Assembly Tasks Wenzhao Lian Tim Kelch D. Holz Adam Norton S. Schaal 67 24 0 08 Mar 2021
Learning Transferable Visual Models From Natural Language Supervision Alec Radford Jong Wook Kim Chris Hallacy Aditya A. Ramesh Gabriel Goh ... Amanda Askell Pamela Mishkin Jack Clark Gretchen Krueger Ilya Sutskever CLIP VLM 1.0K 29,926 0 26 Feb 2021
Denoising Diffusion Implicit Models Jiaming Song Chenlin Meng Stefano Ermon VLM DiffM 304 7,492 0 06 Oct 2020
HiPPO: Recurrent Memory with Optimal Polynomial Projections Albert Gu Tri Dao Stefano Ermon Atri Rudra Christopher Ré 131 535 0 17 Aug 2020
Denoising Diffusion Probabilistic Models Jonathan Ho Ajay Jain Pieter Abbeel DiffM 754 18,408 0 19 Jun 2020
Behavioral Cloning from Observation F. Torabi Garrett A. Warnell Peter Stone OffRL 115 732 0 04 May 2018
A New Approach to Time-Optimal Path Parameterization based on Reachability Analysis H. Pham Quang Pham 73 179 0 23 Jul 2017
Attention Is All You Need Ashish Vaswani Noam M. Shazeer Niki Parmar Jakob Uszkoreit Llion Jones Aidan Gomez Lukasz Kaiser Illia Polosukhin 3DV 805 132,725 0 12 Jun 2017
Deep Visual Foresight for Planning Robot Motion Chelsea Finn Sergey Levine 123 788 0 03 Oct 2016
Deep Residual Learning for Image Recognition Kaiming He Xinming Zhang Shaoqing Ren Jian Sun MedIm 2.3K 194,641 0 10 Dec 2015