DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action distributions. However, challenges persist due to the data limitations and scenario-specific adaptation needs. In this paper, we address these challenges by proposing an optimized approach to training diffusion policies using large, pre-built datasets that are enhanced using Reinforcement Learning (RL). Our end-to-end pipeline leverages RL-based enhancement of the DexGraspNet dataset, lightweight diffusion policy training on a dexterous manipulation task for a five-fingered robotic hand, and a pose sampling algorithm for validation. The pipeline achieved a high success rate of 80% for three DexGraspNet objects. By eliminating manual data collection, our approach lowers barriers to adopting diffusion models in robotics, enhancing generalization and robustness for real-world applications.

@article{makarova2025_2505.18876,
  title={ DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets },
  author={ Maria Makarova and Qian Liu and Dzmitry Tsetserukou },
  journal={arXiv preprint arXiv:2505.18876},
  year={ 2025 }
}