Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

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Title
VTLA: Vision-Tactile-Language-Action Model with Preference Learning for Insertion Manipulation Chaofan Zhang Peng Hao Xiaoge Cao Xiaoshuai Hao Shaowei Cui Shuo Wang 7 0 0 14 May 2025
Adaptive Diffusion Policy Optimization for Robotic Manipulation Huiyun Jiang Zhuang Yang 11 0 0 13 May 2025
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks Ce Hao Anxing Xiao Zhiwei Xue Harold Soh 36 0 0 12 May 2025
$H$^{\mathbf{3}}$DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning$ H $^{\mathbf{3}}$ DP: Triply-Hierarchical Diffusion Policy for Visuomotor Learning Yiyang Lu Yufeng Tian Zhecheng Yuan X. Wang Pu Hua Zhengrong Xue Huazhe Xu 18 0 0 12 May 2025
Pixel Motion as Universal Representation for Robot Control Kanchana Ranasinghe Xiang Li Cristina Mata J. Park Michael S. Ryoo VGen 22 0 0 12 May 2025
You Only Look One Step: Accelerating Backpropagation in Diffusion Sampling with Gradient Shortcuts Hongkun Dou Zeyu Li Xingyu Jiang H. Li Lijun Yang Wen Yao Yue Deng DiffM 30 0 0 12 May 2025
GelFusion: Enhancing Robotic Manipulation under Visual Constraints via Visuotactile Fusion Shulong Jiang Shiqi Zhao Yuxuan Fan Peng Yin 24 0 0 12 May 2025
DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies Tony Tao M. K. Srirama Jason Jingzhou Liu Kenneth Shaw Deepak Pathak 21 0 0 12 May 2025
Efficient Robotic Policy Learning via Latent Space Backward Planning Dongxiu Liu Haoyi Niu Zhihao Wang Jinliang Zheng Yinan Zheng Zhonghong Ou Jianming Hu Jianxiong Li Xianyuan Zhan 18 0 0 11 May 2025
X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real Prithwish Dan K. Kedia Angela Chao Edward Weiyi Duan Maximus Adrian Pace Wei-Chiu Ma Sanjiban Choudhury 18 0 0 11 May 2025
UniVLA: Learning to Act Anywhere with Task-centric Latent Actions Qingwen Bu Y. Yang Jisong Cai Shenyuan Gao Guanghui Ren Maoqing Yao Ping Luo Hongyang Li 51 0 0 09 May 2025
3D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Tasks V. Bhat Yu-Hsiang Lan P. Krishnamurthy Ramesh Karri Farshad Khorrami 45 0 0 09 May 2025
Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives Chengyang He Xu Liu Gadiel Sznaier Camps Guillaume Sartoretti Mac Schwager 23 0 0 09 May 2025
Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation Zechu Li Yufeng Jin Daniel Felipe Ordoñez Apraez Claudio Semini Puze Liu Georgia Chalvatzaki 76 0 0 08 May 2025
CLAM: Continuous Latent Action Models for Robot Learning from Unlabeled Demonstrations Anthony Liang Pavel Czempin Matthew Hong Yutai Zhou Erdem Biyik Stephen Tu 45 0 0 08 May 2025
Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking Yongpeng Jiang Mingrui Yu Xinghao Zhu M. Tomizuka Xiang-Yang Li 49 0 0 08 May 2025
StreamBridge: Turning Your Offline Video Large Language Model into a Proactive Streaming Assistant Haibo Wang Bo Feng Zhengfeng Lai Mingze Xu Shiyu Li Weifeng Ge Afshin Dehghan Meng Cao Ping-Chia Huang OffRL 49 3 0 08 May 2025
Wasserstein Convergence of Score-based Generative Models under Semiconvexity and Discontinuous Gradients Stefano Bruno Sotirios Sabanis DiffM 36 0 0 06 May 2025
Diffusion Models are Secretly Exchangeable: Parallelizing DDPMs via Autospeculation Hengyuan Hu Aniket Das Dorsa Sadigh Nima Anari DiffM 19 0 0 06 May 2025
The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning Jan Ole von Hartz Adrian Rofer Joschka Boedecker Abhinav Valada 35 0 0 06 May 2025
Task Reconstruction and Extrapolation for $π_0$ using Text Latent Quanyi Li 28 0 0 06 May 2025
Latent Adaptive Planner for Dynamic Manipulation Donghun Noh Deqian Kong Minglu Zhao Andrew Lizarraga Jianwen Xie Ying Nian Wu Dennis W. Hong 56 0 0 06 May 2025
OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation Can Cui Pengxiang Ding Wenxuan Song Shuanghao Bai Xinyang Tong ... Yang Liu Bofang Jia H. Zhao Siteng Huang Donglin Wang 14 1 0 06 May 2025
Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions Cunxin Fan Xiaosong Jia Yihang Sun Yixiao Wang Jianglan Wei ... Xiangyu Zhao M. Tomizuka Xue Yang Junchi Yan Mingyu Ding LM&Ro VLM 62 2 0 04 May 2025
CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation Xiaoqi Li Lingyun Xu M. Zhang Jiaming Liu Yan Shen ... Jiahui Xu Liang Heng Siyuan Huang S. Zhang Hao Dong LM&Ro 39 0 0 04 May 2025
Coupled Distributional Random Expert Distillation for World Model Online Imitation Learning Shangzhe Li Zhiao Huang Hao Su 52 0 0 04 May 2025
KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation Di Zhang Chengbo Yuan Chuan Wen H. Zhang Junqiao Zhao Yang Gao 25 0 0 04 May 2025
Dexterous Contact-Rich Manipulation via the Contact Trust Region H. Suh Tao Pang Tong Zhao Russ Tedrake 23 4 0 04 May 2025
Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learning Jifeng Hu Sili Huang Z. Yang Shengchao Hu Li Shen H. Chen Lichao Sun Yi-Ju Chang Dacheng Tao OffRL 68 0 0 03 May 2025
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings Andreas Sochopoulos Nikolay Malkin Nikolaos Tsagkas João Moura Michael Gienger S. Vijayakumar 37 1 0 02 May 2025
ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow Changhe Chen Quantao Yang Xiaohao Xu Nima Fazeli Olov Andersson 22 0 0 02 May 2025
Model Tensor Planning An T. Le K. Nguyen Minh Nhat Vu João Carvalho Jan Peters 23 0 0 02 May 2025
TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching Yue Meng Chuchu Fan 38 0 0 01 May 2025
Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures Junwon Seo Kensuke Nakamura Andrea V. Bajcsy 54 0 0 01 May 2025
DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation Zixuan Chen Junhui Yin Yangtao Chen Jing Huo Pinzhuo Tian Jieqi Shi Yiwen Hou Y. Li Yang Gao 33 0 0 01 May 2025
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators Shivani Guptasarma Matthew Strong HongHao Zhen Monroe Kennedy III 26 0 0 01 May 2025
A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI Lik Hang Kenny Wong Xueyang Kang Kaixin Bai Jianwei Zhang 45 0 0 01 May 2025
Generative Machine Learning in Adaptive Control of Dynamic Manufacturing Processes: A Review Suk Ki Lee Hyunwoong Ko AI4CE 51 0 0 30 Apr 2025
RoboGround: Robotic Manipulation with Grounded Vision-Language Priors Haifeng Huang Xinyi Chen Y. Chen H. Li Xiaoshen Han Z. Wang Tai Wang Jiangmiao Pang Zhou Zhao LM&Ro 75 0 0 30 Apr 2025
LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning Yiyang Shao Xiaoyu Huang Bike Zhang Qiayuan Liao Yuman Gao Yufeng Chi Zhongyu Li Sophia Shao K. Sreenath LM&Ro 71 0 0 30 Apr 2025
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 53 0 0 29 Apr 2025
SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Florian Vahl Jörn Griepenburg Jan Gutsche Jasper Güldenstein Jianwei Zhang VGen 39 0 0 29 Apr 2025
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations Haowen Sun H. Wang Chengzhong Ma Shaolong Zhang Jiawei Ye Xingyu Chen Xuguang Lan OffRL 53 1 0 29 Apr 2025
GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning Juyi Sheng Yangjun Liu Sheng Xu Zhixin Yang Mengyuan Liu 51 0 0 28 Apr 2025
NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks Chia-Yu Hung Qi Sun Pengfei Hong Amir Zadeh Chuan Li U-Xuan Tan Navonil Majumder Soujanya Poria LM&Ro 37 1 0 28 Apr 2025
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions Tomoharu Aizu Takeru Oba Yuki Kondo Norimichi Ukita DiffM 72 0 0 28 Apr 2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies Jialiang Zhao Naveen Kuppuswamy S. Feng Benjamin Burchfiel Edward H. Adelson 34 0 0 27 Apr 2025
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation Yifan Duan Heng Li Yilong Wu Wenhao Yu Xinran Zhang Yedong Shen J. Ji Y. Zhang 42 0 0 26 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 75 3 0 26 Apr 2025
Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability Zishen Wan Jiayi Qian Yuhang Du Jason J. Jabbour Yilun Du Yang Katie Zhao A. Raychowdhury Tushar Krishna Vijay Janapa Reddi LM&Ro 86 0 0 26 Apr 2025