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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

ArXiv (abs)PDF HTML HuggingFace (5 upvotes)

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

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Title
Guided Flow Policy: Learning from High-Value Actions in Offline Reinforcement Learning Franki Nguimatsia Tiofack Théotime Le Hellard Fabian Schramm Nicolas Perrin-Gilbert Justin Carpentier 162 0 0 03 Dec 2025
PerFACT: Motion Policy with LLM-Powered Dataset Synthesis and Fusion Action-Chunking Transformers Davood Soleymanzadeh Xiao Liang Minghui Zheng 52 0 0 03 Dec 2025
Video2Act: A Dual-System Video Diffusion Policy with Robotic Spatio-Motional Modeling Yueru Jia Jiaming Liu Shengbang Liu Rui Zhou W. Yu Yuyang Yan Xiaowei Chi Yandong Guo Boxin Shi Shanghang Zhang VGen 228 1 0 02 Dec 2025
AID: Agent Intent from Diffusion for Multi-Agent Informative Path Planning Jeric Lew Yuhong Cao Derek Ming Siang Tan Guillaume Sartoretti DiffM 16 0 0 02 Dec 2025
GoRL: An Algorithm-Agnostic Framework for Online Reinforcement Learning with Generative Policies Chubin Zhang Zhenglin Wan Feng Chen Xingrui Yu Ivor W. Tsang Bo An 52 0 0 02 Dec 2025
SMP: Reusable Score-Matching Motion Priors for Physics-Based Character Control Yuxuan Mu Ziyu Zhang Yi Shi Minami Matsumoto Kotaro Imamura ... Chuan Guo Michael Taylor Chang Shu Pengcheng Xi Xue Bin Peng 12 0 0 02 Dec 2025
SAM2Grasp: Resolve Multi-modal Grasping via Prompt-conditioned Temporal Action Prediction Shengkai Wu Jinrong Yang Wenqiu Luo Linfeng Gao Chaohui Shang Meiyu Zhi Mingshan Sun Fangping Yang Liangliang Ren Yong Zhao 64 0 0 02 Dec 2025
Diagnose, Correct, and Learn from Manipulation Failures via Visual Symbols Xianchao Zeng Xinyu Zhou Youcheng Li Jiayou Shi Tianle Li L. Chen Lei Ren Y. Li 32 0 0 02 Dec 2025
Real-World Robot Control by Deep Active Inference With a Temporally Hierarchical World ModelIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Kentaro Fujii Shingo Murata 36 0 0 01 Dec 2025
IGen: Scalable Data Generation for Robot Learning from Open-World Images Chenghao Gu Haolan Kang Junchao Lin Jinghe Wang Duo Wu ... Ziyang Gong Letian Li Hongying Zheng Changwei Lv Zhi Wang VGen LM&Ro 100 0 0 01 Dec 2025
PointNet4D: A Lightweight 4D Point Cloud Video Backbone for Online and Offline Perception in Robotic Applications Yunze Liu Zifan Wang Peiran Wu Jiayang Ao 3DPC 101 0 0 01 Dec 2025
DiG-Flow: Discrepancy-Guided Flow Matching for Robust VLA Models Wanpeng Zhang Ye Wang Hao Luo Haoqi Yuan Yicheng Feng Sipeng Zheng Qin Jin Zongqing Lu 136 0 0 01 Dec 2025
Modality-Augmented Fine-Tuning of Foundation Robot Policies for Cross-Embodiment Manipulation on GR1 and G1 Junsung Park Hogun Kee Songhwai Oh 32 0 0 01 Dec 2025
A Diffusion Model Framework for Maximum Entropy Reinforcement Learning Sebastian Sanokowski Kaustubh Patil Alois Knoll DiffM 28 0 0 01 Dec 2025
$$\mathbf{M^3A}$ Policy: Mutable Material Manipulation Augmentation Policy through Photometric Re-rendering$ $\mathbf{M^3A}$ Policy: Mutable Material Manipulation Augmentation Policy through Photometric Re-rendering Jiayi Li Yuxuan Hu Haoran Geng Xiangyu Chen Chuhao Zhou Ziteng Cui Jianfei Yang VGen 40 0 0 01 Dec 2025
ManualVLA: A Unified VLA Model for Chain-of-Thought Manual Generation and Robotic Manipulation Chenyang Gu Jiaming Liu Hao Chen Runzhong Huang Qingpo Wuwu ... Ying Li Renrui Zhang Peng Jia Pheng-Ann Heng Shanghang Zhang LM&Ro 136 1 0 01 Dec 2025
Learning Dexterous Manipulation Skills from Imperfect Simulations Elvis Hsieh Wen-Han Hsieh Yen-Jen Wang Toru Lin Jitendra Malik Koushil Sreenath Haozhi Qi 158 0 0 01 Dec 2025
TrajDiff: End-to-end Autonomous Driving without Perception Annotation Xingtai Gui Jianbo Zhao Wencheng Han Jikai Wang Jiahao Gong Feiyang Tan Cheng-Zhong Xu Jianbing Shen 8 1 0 30 Nov 2025
CycleManip: Enabling Cyclic Task Manipulation via Effective Historical Perception and Understanding Yi-Lin Wei Haoran Liao Yuhao Lin Pengyue Wang Zhizhao Liang Guiliang Liu Wei-Shi Zheng 24 0 0 30 Nov 2025
LAP: Fast LAtent Diffusion Planner with Fine-Grained Feature Distillation for Autonomous Driving Jinhao Zhang Wenlong Xia Zhexuan Zhou Youmin Gong Jie Mei 36 0 0 29 Nov 2025
SimScale: Learning to Drive via Real-World Simulation at Scale Haochen Tian Tianyu Li Haochen Liu Jiazhi Yang Yihang Qiu ... Liang Wang Hangjun Ye Tieniu Tan Long Chen Hongyang Li 106 2 0 28 Nov 2025
RobotSeg: A Model and Dataset for Segmenting Robots in Image and Video Haiyang Mei Qiming Huang Hai Ci Mike Zheng Shou VOS VLM 211 0 0 28 Nov 2025
LatBot: Distilling Universal Latent Actions for Vision-Language-Action Models Zuolei Li Xingyu Gao Xiaofan Wang Jianlong Fu LM&Ro 122 0 0 28 Nov 2025
Visual-Geometry Diffusion Policy: Robust Generalization via Complementarity-Aware Multimodal Fusion Yikai Tang Haoran Geng Sheng Zang Pieter Abbeel Jitendra Malik 28 0 0 27 Nov 2025
Flow Density Control: Generative Optimization Beyond Entropy-Regularized Fine-Tuning Riccardo De Santi Marin Vlastelica Ya-Ping Hsieh Zebang Shen Niao He Andreas Krause AI4CE 31 0 0 27 Nov 2025
Switching control of underactuated multi-channel systems with input constraints for cooperative manipulation Dongjae Lee Dimos V. Dimarogonas Heeseung Kim 80 0 0 27 Nov 2025
CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance Rui Heng Yang Xuan Zhao Leo Maxime Brunswic Montgomery Alban Mateo Clemente Tongtong Cao Jun Jin Amir Rasouli 76 0 0 27 Nov 2025
$$\mathcal{E}_0$: Enhancing Generalization and Fine-Grained Control in VLA Models via Continuized Discrete Diffusion$ $\mathcal{E}_0$ : Enhancing Generalization and Fine-Grained Control in VLA Models via Continuized Discrete Diffusion Zhihao Zhan Jiaying Zhou Likui Zhang Qinhan Lv Hao Liu ... Ziliang Chen Tianshui Chen Keze Wang Liang Lin Guangrun Wang VGen VLM 164 0 0 26 Nov 2025
Dataset Poisoning Attacks on Behavioral Cloning Policies Akansha Kalra Soumil Datta Ethan Gilmore Duc La Guanhong Tao Daniel S. Brown AAML OffRL 199 0 0 26 Nov 2025
Transformer Driven Visual Servoing for Fabric Texture Matching Using Dual-Arm Manipulator Fuyuki Tokuda Akira Seino Akinari Kobayashi Kai Tang Kazuhiro Kosuge 148 0 0 26 Nov 2025
Model-Based Policy Adaptation for Closed-Loop End-to-End Autonomous Driving Haohong Lin Yunzhi Zhang Wenhao Ding Jiajun Wu Ding Zhao 141 2 0 26 Nov 2025
Efficient Diffusion Planning with Temporal Diffusion Jiaming Guo Rui Zhang Z. Li Yunkai Gao Shaohui Peng Siming Lan Xing Hu Zidong Du Xishan Zhang Ling Li DiffM 170 0 0 26 Nov 2025
FREE: Uncertainty-Aware Autoregression for Parallel Diffusion Transformers Xinwan Wen Bowen Li Jiajun Luo Ye Li Zhi Wang VGen 101 0 0 25 Nov 2025
Dynamic Test-Time Compute Scaling in Control Policy: Difficulty-Aware Stochastic Interpolant Policy Inkook Chun Seungjae Lee M. S. Albergo Saining Xie Eric Vanden-Eijnden 136 0 0 25 Nov 2025
ArtiBench and ArtiBrain: Benchmarking Generalizable Vision-Language Articulated Object Manipulation Yuhan Wu Tiantian Wei S. Wang ZhiChao Wang Y. Zhang Daniel Cremers Yan Xia 40 0 0 25 Nov 2025
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation Jinxuan Zhu Zihao Yan Yangyu Xiao Jingxiang Guo Chenrui Tie Xinyi Cao Yuhang Zheng Lin Shao 88 0 0 25 Nov 2025
SpeedAug: Policy Acceleration via Tempo-Enriched Policy and RL Fine-Tuning Taewook Nam Sung Ju Hwang 48 0 0 24 Nov 2025
Learning Massively Multitask World Models for Continuous Control Nicklas Hansen Hao Su Xiaolong Wang OffRL CLL LM&Ro 451 0 0 24 Nov 2025
Mixture of Horizons in Action Chunking Dong Jing Gang Wang Jiaqi Liu Weiliang Tang Zelong Sun Yunchao Yao Zhenyu Wei Y. Liu Zhiwu Lu Mingyu Ding 199 0 0 24 Nov 2025
Object-centric Task Representation and Transfer using Diffused Orientation Fields Cem Bilaloglu Tobias Löw Sylvain Calinon 76 0 0 23 Nov 2025
How to Train Your Latent Control Barrier Function: Smooth Safety Filtering Under Hard-to-Model Constraints Kensuke Nakamura Arun L. Bishop Steven Man Aaron M. Johnson Zachary Manchester Andrea V. Bajcsy 56 0 0 23 Nov 2025
Observer Actor: Active Vision Imitation Learning with Sparse View Gaussian Splatting Yilong Wang Cheng Qian Ruomeng Fan Edward Johns 64 0 0 22 Nov 2025
EchoVLA: Robotic Vision-Language-Action Model with Synergistic Declarative Memory for Mobile Manipulation Min Lin Xiwen Liang Bingqian Lin Liu Jingzhi Zijian Jiao ... Yuhan Ma Yuecheng Liu Shen Zhao Yuzheng Zhuang Xiaodan Liang LM&Ro 191 0 0 22 Nov 2025
L1 Sample Flow for Efficient Visuomotor Learning Weixi Song Z. Chen Tao Xu Xianchao Zeng Xinyu Zhou L. Yang Donglin Wang Cewu Lu Y. Li 88 0 0 22 Nov 2025
H-GAR: A Hierarchical Interaction Framework via Goal-Driven Observation-Action Refinement for Robotic Manipulation Yijie Zhu Rui Shao Ziyang Liu Jie He Jizhihui Liu Jiuru Wang Zitong Yu 162 1 0 21 Nov 2025
Stable Offline Hand-Eye Calibration for any Robot with Just One Mark Sicheng Xie Lingchen Meng Zhiying Du Shuyuan Tu Haidong Cao Jiaqi Leng Z. F. Wu Yu-Gang Jiang 160 0 0 21 Nov 2025
RoboCOIN: An Open-Sourced Bimanual Robotic Data COllection for INtegrated Manipulation Shihan Wu Xuecheng Liu Shaoxuan Xie Pengwei Wang Xinghang Li ... Hao Zhao Tiejun Huang Shanghang Zhang Yonghua Lin Zhongyuan Wang 180 0 0 21 Nov 2025
VLA-4D: Embedding 4D Awareness into Vision-Language-Action Models for SpatioTemporally Coherent Robotic Manipulation Hanyu Zhou Chuanhao Ma Gim Hee Lee 152 0 0 21 Nov 2025
RynnVLA-002: A Unified Vision-Language-Action and World Model Jun Cen Siteng Huang Yuqian Yuan Kehan Li Hangjie Yuan ... Xin Li Hao Luo Fan Wang Deli Zhao H. Chen VGen SyDa 285 0 0 21 Nov 2025
Bi-AQUA: Bilateral Control-Based Imitation Learning for Underwater Robot Arms via Lighting-Aware Action Chunking with Transformers Takeru Tsunoori Masato Kobayashi Yuki Uranishi 76 0 0 20 Nov 2025

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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

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