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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
v1v2v3v4v5 (latest)

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023
Cheng Chi
Zhenjia Xu
S. Feng
Eric A. Cousineau
Yilun Du
Benjamin Burchfiel
Russ Tedrake
Shuran Song
ArXiv (abs)PDFHTMLHuggingFace (5 upvotes)

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

50 / 1,476 papers shown
Title
VITA: Vision-to-Action Flow Matching Policy
VITA: Vision-to-Action Flow Matching Policy
D. Gao
Boqi Zhao
Andrew Lee
Ian Chuang
Hanchu Zhou
Hang Wang
Zhe Zhao
Junshan Zhang
Iman Soltani
VGen
147
3
0
17 Jul 2025
EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
EquiContact: A Hierarchical SE(3) Vision-to-Force Equivariant Policy for Spatially Generalizable Contact-rich Tasks
Joohwan Seo
Arvind Kruthiventy
Soomi Lee
Megan Teng
Xiang Zhang
Seoyeon Choi
Jongeun Choi
R. Horowitz
172
2
0
15 Jul 2025
Ocean Diviner: A Diffusion-Augmented Reinforcement Learning Framework for AUV Robust Control in Underwater Tasks
Ocean Diviner: A Diffusion-Augmented Reinforcement Learning Framework for AUV Robust Control in Underwater Tasks
Jingzehua Xu
Jingzehua Xu
Weiyi Liu
Jiwei Tang
Ziteng Yang
Tianxiang Xing
Yiyuan Yang
Shuai Zhang
Xiaofan Li
100
0
0
15 Jul 2025
Relative Entropy Pathwise Policy Optimization
Relative Entropy Pathwise Policy Optimization
C. Voelcker
Axel Brunnbauer
Marcel Hussing
Michal Nauman
Pieter Abbeel
Eric Eaton
Radu Grosu
Amir-massoud Farahmand
Igor Gilitschenski
309
0
0
15 Jul 2025
Reinforcement Learning with Action Chunking
Reinforcement Learning with Action Chunking
Qiyang Li
Zhiyuan Zhou
Sergey Levine
OffRLOnRL
328
19
0
10 Jul 2025
Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control
Integrating Diffusion-based Multi-task Learning with Online Reinforcement Learning for Robust Quadruped Robot Control
Xinyao Qin
Xiaoteng Ma
Yang Qi
Qihan Liu
Chuanyi Xue
Ning Gui
Qinyu Dong
Jun Yang
Bin Liang
175
1
0
08 Jul 2025
Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
Hybrid Diffusion Policies with Projective Geometric Algebra for Efficient Robot Manipulation Learning
Xiatao Sun
Yuxuan Wang
Shuo Yang
Yinxing Chen
Daniel Rakita
168
2
0
08 Jul 2025
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Rapid and Safe Trajectory Planning over Diverse Scenes through Diffusion Composition
Wule Mao
Zhouheng Li
Yunhao Luo
Yilun Du
Lei Xie
181
1
0
06 Jul 2025
DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge
DreamVLA: A Vision-Language-Action Model Dreamed with Comprehensive World Knowledge
Wenyao Zhang
Hongsi Liu
Zekun Qi
Yunnan Wang
X. Yu
...
He Wang
Dongbin Zhao
Li Yi
Wenjun Zeng
Xin Jin
VLM
198
35
0
06 Jul 2025
DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Driving
DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Driving
Ziying Song
Lin Liu
Hongyu Pan
Bencheng Liao
Mingzhe Guo
Lei Yang
Y. Zhang
Shaoqing Xu
Caiyan Jia
Yadan Luo
280
6
0
05 Jul 2025
AC-Refiner: Efficient Arithmetic Circuit Optimization Using Conditional Diffusion Models
AC-Refiner: Efficient Arithmetic Circuit Optimization Using Conditional Diffusion Models
Chenhao Xue
Kezhi Li
Jiaxing Zhang
Yi Ren
Zhengyuan Shi
Chen Zhang
Yibo Lin
L. Zhang
Qiang Xu
Guangyu Sun
DiffM
117
0
0
03 Jul 2025
The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio
The Sound of Simulation: Learning Multimodal Sim-to-Real Robot Policies with Generative Audio
Renhao Wang
Haoran Geng
Tingle Li
Feishi Wang
Gopala Anumanchipalli
Trevor Darrell
Boyi Li
Pieter Abbeel
Jitendra Malik
Alexei A. Efros
VGen
170
1
0
03 Jul 2025
TriVLA: A Triple-System-Based Unified Vision-Language-Action Model with Episodic World Modeling for General Robot Control
TriVLA: A Triple-System-Based Unified Vision-Language-Action Model with Episodic World Modeling for General Robot Control
Zhenyang Liu
Yongchong Gu
Sixiao Zheng
Yanwei Fu
Xiangyang Xue
Yu-Gang Jiang
228
3
0
02 Jul 2025
HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning
HumanoidGen: Data Generation for Bimanual Dexterous Manipulation via LLM Reasoning
Zhi Jing
Siyuan Yang
Jicong Ao
Ting Xiao
Yu-Gang Jiang
Chenjia Bai
113
5
0
01 Jul 2025
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
Martin Peticco
Gabriella Ulloa
John Marangola
Nitish Dashora
Pulkit Agrawal
102
1
0
01 Jul 2025
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
A Survey: Learning Embodied Intelligence from Physical Simulators and World Models
Xiaoxiao Long
Qingrui Zhao
Kaiwen Zhang
Zihao Zhang
Dingrui Wang
...
Jia Pan
Qiu Shen
Ruigang Yang
X. Cao
Qionghai Dai
LM&RoAI4CE
270
18
0
01 Jul 2025
BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulation
BFA: Best-Feature-Aware Fusion for Multi-View Fine-grained Manipulation
Zihan Lan
Weixin Mao
Haoyang Li
Le Wang
Tiancai Wang
Haoqiang Fan
Osamu Yoshie
EgoV
353
4
0
01 Jul 2025
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
ParticleFormer: A 3D Point Cloud World Model for Multi-Object, Multi-Material Robotic Manipulation
Suning Huang
Qianzhong Chen
Xiaohan Zhang
J. Sun
Mac Schwager
198
5
0
29 Jun 2025
4D-VLA: Spatiotemporal Vision-Language-Action Pretraining with Cross-Scene Calibration
4D-VLA: Spatiotemporal Vision-Language-Action Pretraining with Cross-Scene Calibration
J. Zhang
Yurui Chen
Yueming Xu
Ze Huang
Yanpeng Zhou
...
Xinyue Cai
Guowei Huang
Xingyue Quan
Hang Xu
Li Zhang
89
13
0
27 Jun 2025
Flow-Based Single-Step Completion for Efficient and Expressive Policy Learning
Flow-Based Single-Step Completion for Efficient and Expressive Policy Learning
Prajwal Koirala
Cody Fleming
OffRL
292
4
0
26 Jun 2025
Scaffolding Dexterous Manipulation with Vision-Language Models
Scaffolding Dexterous Manipulation with Vision-Language Models
Vincent de Bakker
Joey Hejna
Tyler Ga Wei Lum
Onur Celik
Aleksandar Taranovic
Denis Blessing
Gerhard Neumann
Jeannette Bohg
Dorsa Sadigh
143
5
0
24 Jun 2025
CronusVLA: Towards Efficient and Robust Manipulation via Multi-Frame Vision-Language-Action Modeling
CronusVLA: Towards Efficient and Robust Manipulation via Multi-Frame Vision-Language-Action Modeling
Hao Li
Shuai Yang
Yilun Chen
Xinyi Chen
Xiaoda Yang
...
Hanqing Wang
Tai Wang
Dahua Lin
Feng Zhao
Jiangmiao Pang
146
6
0
24 Jun 2025
MinD: Learning A Dual-System World Model for Real-Time Planning and Implicit Risk Analysis
MinD: Learning A Dual-System World Model for Real-Time Planning and Implicit Risk Analysis
Yatian Wang
Kuangzhi Ge
Jiaming Liu
Siyuan Zhou
Peidong Jia
...
Tingguang Li
Lei Han
Sirui Han
Shanghang Zhang
Wenhan Luo
DiffMVGen
330
2
0
23 Jun 2025
CUPID: Curating Data your Robot Loves with Influence Functions
CUPID: Curating Data your Robot Loves with Influence Functions
Christopher Agia
Rohan Sinha
J. Yang
Rika Antonova
Marco Pavone
Haruki Nishimura
Masha Itkina
Jeannette Bohg
211
9
0
23 Jun 2025
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies
P. Atreya
Karl Pertsch
T. Lee
Moo Jin Kim
A. Jain
...
R. M. Martin
Youngwoon Lee
Percy Liang
Chelsea Finn
Sergey Levine
OffRL
140
15
0
22 Jun 2025
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulation
Tianxing Chen
Z. Chen
Baijun Chen
Zijian Cai
Yibin Liu
...
Zhixuan Liang
Yusen Qin
Xiaokang Yang
Ping Luo
Yao Mu
SyDa
206
54
0
22 Jun 2025
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections
Xiaomeng Xu
Yifan Hou
Zeyi Liu
Shuran Song
247
4
0
20 Jun 2025
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control
Reimagination with Test-time Observation Interventions: Distractor-Robust World Model Predictions for Visual Model Predictive Control
Yuxin Chen
Jianglan Wei
Chenfeng Xu
Boyi Li
Masayoshi Tomizuka
Andrea V. Bajcsy
Ran Tian
180
1
0
19 Jun 2025
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
ViTacFormer: Learning Cross-Modal Representation for Visuo-Tactile Dexterous Manipulation
Liang Heng
Haoran Geng
Kaifeng Zhang
Pieter Abbeel
Jitendra Malik
144
9
0
19 Jun 2025
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
Guang Yin
Yitong Li
Yixuan Wang
D. Mcconachie
Paarth Shah
Kunimatsu Hashimoto
Huan Zhang
Katherine Liu
Yunzhu Li
LM&Ro
143
5
0
19 Jun 2025
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
ControlVLA: Few-shot Object-centric Adaptation for Pre-trained Vision-Language-Action Models
Puhao Li
Yingying Wu
Ziheng Xi
Wanlin Li
Yuzhe Huang
...
Yinghan Chen
Jianan Wang
Song-Chun Zhu
Tengyu Liu
Siyuan Huang
LM&Ro
184
17
0
19 Jun 2025
CapsDT: Diffusion-Transformer for Capsule Robot Manipulation
CapsDT: Diffusion-Transformer for Capsule Robot Manipulation
Xiting He
Mingwu Su
Xinqi Jiang
Long Bai
Jiewen Lai
Hongliang Ren
MedIm
149
0
0
19 Jun 2025
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
An Optimization-Augmented Control Framework for Single and Coordinated Multi-Arm Robotic Manipulation
Melih Özcan
Ozgur S. Oguz
100
0
0
19 Jun 2025
FlowRAM: Grounding Flow Matching Policy with Region-Aware Mamba Framework for Robotic Manipulation
FlowRAM: Grounding Flow Matching Policy with Region-Aware Mamba Framework for Robotic ManipulationComputer Vision and Pattern Recognition (CVPR), 2025
Sen Wang
Le Wang
Sanping Zhou
Jingyi Tian
Jiayi Li
Haowen Sun
Wei Tang
173
6
0
19 Jun 2025
Vision in Action: Learning Active Perception from Human Demonstrations
Vision in Action: Learning Active Perception from Human Demonstrations
Haoyu Xiong
Xiaomeng Xu
Jimmy Wu
Yifan Hou
Jeannette Bohg
Shuran Song
249
16
0
18 Jun 2025
Steering Your Diffusion Policy with Latent Space Reinforcement Learning
Steering Your Diffusion Policy with Latent Space Reinforcement Learning
Andrew Wagenmaker
Mitsuhiko Nakamoto
Yunchu Zhang
S. Park
Waleed Yagoub
Anusha Nagabandi
Abhishek Gupta
Sergey Levine
OffRL
289
23
0
18 Jun 2025
Provable Maximum Entropy Manifold Exploration via Diffusion Models
Provable Maximum Entropy Manifold Exploration via Diffusion Models
Riccardo De Santi
Marin Vlastelica
Ya-Ping Hsieh
Zebang Shen
Niao He
Andreas Krause
DiffM
182
5
0
18 Jun 2025
Robust Instant Policy: Leveraging Student's t-Regression Model for Robust In-context Imitation Learning of Robot Manipulation
Robust Instant Policy: Leveraging Student's t-Regression Model for Robust In-context Imitation Learning of Robot Manipulation
Hanbit Oh
Andrea M. Salcedo-Vázquez
I. Ramirez-Alpizar
Y. Domae
146
1
0
18 Jun 2025
Latent Action Diffusion for Cross-Embodiment Manipulation
Latent Action Diffusion for Cross-Embodiment Manipulation
Erik Bauer
Elvis Nava
Robert K. Katzschmann
187
4
0
17 Jun 2025
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
ClutterDexGrasp: A Sim-to-Real System for General Dexterous Grasping in Cluttered Scenes
Zeyuan Chen
Qiyang Yan
Yuanpei Chen
Tianhao Wu
Jiyao Zhang
Zihan Ding
Jinzhou Li
Yaodong Yang
Hao Dong
337
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0
17 Jun 2025
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
CDP: Towards Robust Autoregressive Visuomotor Policy Learning via Causal Diffusion
Jiahua Ma
Yiran Qin
Yixiong Li
Xuanqi Liao
Yulan Guo
Ruimao Zhang
232
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17 Jun 2025
VLM-SFD: VLM-Assisted Siamese Flow Diffusion Framework for Dual-Arm Cooperative Manipulation
VLM-SFD: VLM-Assisted Siamese Flow Diffusion Framework for Dual-Arm Cooperative ManipulationIEEE Robotics and Automation Letters (IEEE RA-L), 2025
Jiaming Chen
Yiyu Jiang
Aoshen Huang
Yang Li
Wei Pan
103
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What Matters in Learning from Large-Scale Datasets for Robot Manipulation
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Vaibhav Saxena
Matthew Bronars
Nadun Ranawaka Arachchige
Kuancheng Wang
Woo Chul Shin
Soroush Nasiriany
Ajay Mandlekar
Danfei Xu
180
12
0
16 Jun 2025
Vid-CamEdit: Video Camera Trajectory Editing with Generative Rendering from Estimated Geometry
Vid-CamEdit: Video Camera Trajectory Editing with Generative Rendering from Estimated Geometry
Junyoung Seo
Jisang Han
Jaewoo Jung
Siyoon Jin
Joungbin Lee
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Takashi Shibuya
Donghoon Ahn
Shoukang Hu
Seungryong Kim
Yuki Mitsufuji
VGen
182
3
0
16 Jun 2025
IKDiffuser: A Generative Inverse Kinematics Solver for Multi-arm Robots via Diffusion Model
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Zeyu Zhang
Ziyuan Jiao
271
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0
16 Jun 2025
Scaling Algorithm Distillation for Continuous Control with Mamba
Scaling Algorithm Distillation for Continuous Control with Mamba
Samuel Beaussant
Mehdi Mounsif
155
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0
16 Jun 2025
Overcoming Overfitting in Reinforcement Learning via Gaussian Process Diffusion Policy
Overcoming Overfitting in Reinforcement Learning via Gaussian Process Diffusion PolicySymposium on Software Performance (SP), 2025
Amornyos Horprasert
Esa Apriaskar
Xingyu Liu
Lanlan Su
Lyudmila S. Mihaylova
126
1
0
16 Jun 2025
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
T. Tsuji
Y. Kato
Gokhan Solak
Heng Zhang
Tadej Petrič
Francesco Nori
Arash Ajoudani
204
8
0
16 Jun 2025
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
Zifan Zhao
Siddhant Haldar
Jinda Cui
Lerrel Pinto
Raunaq M. Bhirangi
OffRL
221
3
0
16 Jun 2025
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du
Shuran Song
217
2
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