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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
MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion Qi Liu Xiaopeng Zhang Mingshan Tan Shuaikang Ma Jinliang Ding Yanjie Li 76 1 0 14 Aug 2025
3D FlowMatch Actor: Unified 3D Policy for Single- and Dual-Arm Manipulation N. Gkanatsios Jiahe Xu Matthew Bronars Arsalan Mousavian Tsung-Wei Ke Katerina Fragkiadaki VGen 168 1 0 14 Aug 2025
Masquerade: Learning from In-the-wild Human Videos using Data-Editing Marion Lepert Jiaying Fang Jeannette Bohg VGen 181 10 0 13 Aug 2025
DAgger Diffusion Navigation: DAgger Boosted Diffusion Policy for Vision-Language Navigation Haoxiang Shi Xiang Deng Zaijing Li Gongwei Chen Yaowei Wang Liqiang Nie 60 0 0 13 Aug 2025
BEAVR: Bimanual, multi-Embodiment, Accessible, Virtual Reality Teleoperation System for Robots Alejandro Posadas-Nava Alejandro Carrasco Richard Linares 68 0 0 13 Aug 2025
Immersive Teleoperation of Beyond-Human-Scale Robotic Manipulators: Challenges and Future Directions Mahdi Hejrati Jouni Mattila 40 0 0 13 Aug 2025
Distilling LLM Prior to Flow Model for Generalizable Agent's Imagination in Object Goal Navigation B. Li Ren-jie Lu Yu Zhou Jingke Meng Wei-Shi Zheng 176 0 0 13 Aug 2025
Physical Autoregressive Model for Robotic Manipulation without Action Pretraining Zijian Song Sihan Qin Tianshui Chen Liang Lin Guangrun Wang 272 6 0 13 Aug 2025
OmniVTLA: Vision-Tactile-Language-Action Model with Semantic-Aligned Tactile Sensing Zhengxue Cheng Yiqian Zhang Wenkang Zhang Haoyu Li Keyu Wang Li Song H. Zhang 133 5 0 12 Aug 2025
Towards Safe Imitation Learning via Potential Field-Guided Flow Matching Haoran Ding Anqing Duan Zezhou Sun Leonel Rozo Noémie Jaquier Dezhen Song Yoshihiko Nakamura 112 0 0 12 Aug 2025
AgentWorld: An Interactive Simulation Platform for Scene Construction and Mobile Robotic Manipulation Yizheng Zhang Zhenjun Yu Jiaxin Lai Cewu Lu Lei Han LM&Ro VGen 121 2 0 11 Aug 2025
AimBot: A Simple Auxiliary Visual Cue to Enhance Spatial Awareness of Visuomotor Policies Yinpei Dai Jayjun Lee Yichi Zhang Ziqiao Ma Jed Yang Amir Zadeh Chuan Li Nima Fazeli Joyce Chai 78 1 0 11 Aug 2025
BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion Qiayuan Liao Qiayuan Liao Xiaoyu Huang Guy Tevet Chenxi Liu Koushil Sreenath C.K. Liu 243 43 0 11 Aug 2025
DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit Aiden Swann Alex Qiu Matthew Strong Angelina Zhang Samuel Morstein Kai Rayle Monroe Kennedy III 92 1 0 09 Aug 2025
ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulation Zezeng Li Rui Yang Ruochen Chen Zhongxuan Luo Liming Chen 194 1 0 08 Aug 2025
Learning to See and Act: Task-Aware Virtual View Exploration for Robotic Manipulation Yongjie Bai Zhouxia Wang Wenshu Fan Weixing Chen Ziliang Chen ... Yongsen Zheng Lingbo Liu Guanbin Li Guanbin Li Liang Lin 202 1 0 07 Aug 2025
Real-Time Iteration Scheme for Diffusion Policy Yufei Duan Hang Yin Danica Kragic 112 1 0 07 Aug 2025
Case Studies of Generative Machine Learning Models for Dynamical Systems Nachiket U. Bapat Randy C. Paffenroth Raghvendra V. Cowlagi AI4CE 102 0 0 06 Aug 2025
DDTracking: A Deep Generative Framework for Diffusion MRI Tractography with Streamline Local-Global Spatiotemporal Modeling Yijie Li Wei-na Zhang Xi Zhu Ye Wu Yogesh Rathi L. O’Donnell Fan Zhang DiffM MedIm 95 1 0 06 Aug 2025
Constraint-Preserving Data Generation for Visuomotor Policy Learning Kevin Lin Varun Ragunath Andrew McAlinden Aaditya Prasad Jimmy Wu Yuke Zhu Jeannette Bohg 85 3 0 05 Aug 2025
DiWA: Diffusion Policy Adaptation with World Models Akshay L Chandra Iman Nematollahi Chenguang Huang Tim Welschehold Wolfram Burgard Abhinav Valada OffRL 119 5 0 05 Aug 2025
VFP: Variational Flow-Matching Policy for Multi-Modal Robot Manipulation Xuanran Zhai Ce Hao Qiaojun Yu Ce Hao 124 2 0 03 Aug 2025
CLASS: Contrastive Learning via Action Sequence Supervision for Robot Manipulation Sung-Wook Lee Xuhui Kang Brandon Yang Yen-Ling Kuo SSL 134 2 0 03 Aug 2025
Physically-based Lighting Generation for Robotic Manipulation Shutong Jin Lezhong Wang Ben Temming Florian T. Pokorny 127 0 0 02 Aug 2025
Unified Generation-Refinement Planning: Bridging Guided Flow Matching and Sampling-Based MPC for Social Navigation Kazuki Mizuta Karen Leung 149 0 0 02 Aug 2025
COLLAGE: Adaptive Fusion-based Retrieval for Augmented Policy Learning Sateesh Kumar Shivin Dass Georgios Pavlakos Roberto Martín-Martín 100 1 0 02 Aug 2025
HannesImitation: Grasping with the Hannes Prosthetic Hand via Imitation Learning Carlo Alessi Federico Vasile Federico Ceola Giulia Pasquale Nicoló Boccardo Lorenzo Natale 83 1 0 01 Aug 2025
Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations Yuki Shirai Kei Ota Devesh K. Jha Diego Romeres 197 0 0 01 Aug 2025
Video Generators are Robot Policies Junbang Liang P. Tokmakov Ruoshi Liu Sruthi Sudhakar Paarth Shah Rares Andrei Ambrus Carl Vondrick VGen 215 10 0 01 Aug 2025
villa-X: Enhancing Latent Action Modeling in Vision-Language-Action Models Xiaoyu Chen Hangxing Wei Pushi Zhang Chuheng Zhang Kaixin Wang ... Yucen Wang Xinquan Xiao Li Zhao Jianyu Chen Jiang Bian LM&Ro 265 10 0 31 Jul 2025
One-Step Flow Policy Mirror Descent Tianyi Chen Haitong Ma Na Li Kai Wang Bo Dai 219 0 0 31 Jul 2025
DISCOVERSE: Efficient Robot Simulation in Complex High-Fidelity Environments Ruixiang Wang Guangyu Wang Yuhang Dong Junzhe Wu Yupei Zeng ... Wei Sui Lu Shi Guanzhong Tian Ruqi Huang Longhua Ma 129 9 0 29 Jul 2025
Retrieve-Augmented Generation for Speeding up Diffusion Policy without Additional Training Sodtavilan Odonchimed T. Matsushima Simon Holk Yusuke Iwasawa Yutaka Matsuo 125 0 0 29 Jul 2025
From Seeing to Experiencing: Scaling Navigation Foundation Models with Reinforcement Learning Honglin He Yukai Ma Wayne Wu Bolei Zhou OffRL LRM 117 5 0 29 Jul 2025
emg2tendon: From sEMG Signals to Tendon Control in Musculoskeletal Hands Sagar Verma 101 0 0 29 Jul 2025
Flow Matching Policy Gradients David McAllister Songwei Ge Brent Yi Chung Min Kim Ethan Weber Hongsuk Choi Haiwen Feng Angjoo Kanazawa 234 12 0 28 Jul 2025
FMimic: Foundation Models are Fine-grained Action Learners from Human VideosThe international journal of robotics research (IJRR), 2025 Guangyan Chen Meiling Wang Te Cui Yao Mu Haoyang Lu ... Mengxiao Hu Tianxing Zhou M. Fu Yi Yang Yufeng Yue LM&Ro VLM 101 5 0 28 Jul 2025
Back to the Features: DINO as a Foundation for Video World Models Federico Baldassarre Marc Szafraniec Basile Terver Vasil Khalidov Francisco Massa Yann LeCun Patrick Labatut Maximilian Seitzer Piotr Bojanowski VGen 151 21 0 25 Jul 2025
Moving Out: Physically-grounded Human-AI Collaboration Xuhui Kang Sung-Wook Lee Haolin Liu Yuyan Wang Yen-Ling Kuo 286 0 0 24 Jul 2025
Adaptive Articulated Object Manipulation On The Fly with Foundation Model Reasoning and Part Grounding Xiaojie Zhang Yuanfei Wang Kai Cheng Kunqi Xu Yu Li Liuyu Xiang Hao Dong Zhaofeng He 113 1 0 24 Jul 2025
PinchBot: Long-Horizon Deformable Manipulation with Guided Diffusion Policy Alison Bartsch Arvind Car A. Farimani VGen 183 2 0 23 Jul 2025
Towards Human-level Intelligence via Human-like Whole-Body Manipulation Guang Gao Jianan Wang Jinbo Zuo Junnan Jiang Jingfan Zhang ... Lianyang Ma Ke Chen Minhua Sheng Ruirui Zhang Zhaohui An 97 1 0 23 Jul 2025
ThinkAct: Vision-Language-Action Reasoning via Reinforced Visual Latent Planning Chi-Pin Huang Yueh-Hua Wu Min-Hung Chen Yu-Chun Wang Fu-En Yang LM&Ro LRM 227 38 0 22 Jul 2025
Evaluating Uncertainty and Quality of Visual Language Action-enabled Robots Pablo Valle Chengjie Lu Shaukat Ali Aitor Arrieta 215 2 0 22 Jul 2025
Look, Focus, Act: Efficient and Robust Robot Learning via Human Gaze and Foveated Vision Transformers Ian Chuang Andrew Lee Dechen Gao Dechen Gao Iman Soltani 161 4 0 21 Jul 2025
Reinforcement Learning for Flow-Matching Policies Samuel Pfrommer Yixiao Huang Somayeh Sojoudi 101 4 0 20 Jul 2025
Touch in the Wild: Learning Fine-Grained Manipulation with a Portable Visuo-Tactile Gripper Xinyue Zhu Binghao Huang Yunzhu Li 125 9 0 20 Jul 2025
X-Nav: Learning End-to-End Cross-Embodiment Navigation for Mobile RobotsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Haitong Wang Aaron Hao Tan Angus Fung G. Nejat 192 4 0 19 Jul 2025
Latent Policy Steering with Embodiment-Agnostic Pretrained World Models Yiqi Wang Mrinal Verghese Jeff Schneider 204 4 0 17 Jul 2025
Rethinking the Embodied Gap in Vision-and-Language Navigation: A Holistic Study of Physical and Visual Disparities Liuyi Wang Xinyuan Xia Hui Zhao Hanqing Wang Tai Wang Yilun Chen Chengju Liu Qijun Chen Jiangmiao Pang LM&Ro 166 2 0 17 Jul 2025