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
R+X: Retrieval and Execution from Everyday Human Videos Georgios Papagiannis Norman Di Palo Pietro Vitiello Edward Johns 51 15 0 17 Jul 2024
Puppeteer Your Robot: Augmented Reality Leader-Follower Teleoperation Jonne van Haastregt Michael C. Welle Yuchong Zhang Danica Kragic 33 3 0 16 Jul 2024
BadRobot: Jailbreaking Embodied LLMs in the Physical World Hangtao Zhang Chenyu Zhu Xianlong Wang Ziqi Zhou Yichen Wang ... Shengshan Hu Leo Yu Zhang Aishan Liu Peijin Guo Leo Yu Zhang LM&Ro 40 7 0 16 Jul 2024
UMI on Legs: Making Manipulation Policies Mobile with Manipulation-Centric Whole-body Controllers Huy Ha Yihuai Gao Zipeng Fu Jie Tan Shuran Song 27 37 0 14 Jul 2024
DexGrasp-Diffusion: Diffusion-based Unified Functional Grasp Synthesis Pipeline for Multi-Dexterous Robotic Hands Zhengsheng Zhang Lei Zhou Chenchen Liu Zhiyang Liu Chengran Yuan Sheng Guo Ruiteng Zhao Marcelo H. Ang Francis EH Tay 31 8 0 13 Jul 2024
Towards Interpretable Foundation Models of Robot Behavior: A Task Specific Policy Generation Approach Isaac S. Sheidlower Reuben M. Aronson E. Short 26 0 0 10 Jul 2024
Generative Image as Action Models Mohit Shridhar Yat Long Lo Stephen James 38 9 0 10 Jul 2024
Green Screen Augmentation Enables Scene Generalisation in Robotic Manipulation Eugene Teoh Sumit Patidar Xiao Ma Stephen James 35 5 0 10 Jul 2024
BiGym: A Demo-Driven Mobile Bi-Manual Manipulation Benchmark Nikita Chernyadev Nicholas Backshall Xiao Ma Yunfan Lu Younggyo Seo Stephen James 22 11 0 10 Jul 2024
RoboCAS: A Benchmark for Robotic Manipulation in Complex Object Arrangement Scenarios Liming Zheng Feng Yan Fanfan Liu Chengjian Feng Zhuoliang Kang Lin Ma 38 2 0 09 Jul 2024
Potential Based Diffusion Motion Planning Yunhao Luo Chen Sun Joshua B. Tenenbaum Yilun Du DiffM 38 15 0 08 Jul 2024
Multimodal Diffusion Transformer: Learning Versatile Behavior from Multimodal Goals Moritz Reuss Ömer Erdinç Yagmurlu Fabian Wenzel Rudolf Lioutikov OffRL 31 41 0 08 Jul 2024
RAM: Retrieval-Based Affordance Transfer for Generalizable Zero-Shot Robotic Manipulation Yuxuan Kuang Junjie Ye Haoran Geng Jiageng Mao Congyue Deng Leonidas J. Guibas He Wang Yue Wang LM&Ro 43 21 0 05 Jul 2024
VoxAct-B: Voxel-Based Acting and Stabilizing Policy for Bimanual Manipulation I-Chun Arthur Liu Sicheng He Daniel Seita Gaurav Sukhatme LM&Ro 38 11 0 04 Jul 2024
Bunny-VisionPro: Real-Time Bimanual Dexterous Teleoperation for Imitation Learning Runyu Ding Yuzhe Qin Jiyue Zhu Chengzhe Jia Shiqi Yang Ruihan Yang Xiaojuan Qi Xiaolong Wang 29 49 0 03 Jul 2024
LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance Wenhao Yu Jie Peng Huanyu Yang Junrui Zhang Yifan Duan Jianmin Ji Yanyong Zhang 36 13 0 02 Jul 2024
Equivariant Diffusion Policy Dian Wang Stephen M. Hart David Surovik Tarik Kelestemur Haojie Huang Haibo Zhao Mark Yeatman Jiuguang Wang Robin Walters Robert Platt DiffM 46 20 0 01 Jul 2024
Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning Yixiao Wang Yifei Zhang Mingxiao Huo Ran Tian Xiang Zhang ... Chenfeng Xu Pengliang Ji Wei Zhan Mingyu Ding M. Tomizuka MoE 36 18 0 01 Jul 2024
Open-TeleVision: Teleoperation with Immersive Active Visual Feedback Xuxin Cheng Jialong Li Shiqi Yang Ge Yang Xiaolong Wang 59 96 0 01 Jul 2024
EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning Jingyun Yang Zi-ang Cao Congyue Deng Rika Antonova Shuran Song Jeannette Bohg DiffM 51 29 0 01 Jul 2024
Residual-MPPI: Online Policy Customization for Continuous Control Pengcheng Wang Chenran Li Catherine Weaver Kenta Kawamoto M. Tomizuka Chen Tang Wei Zhan OffRL 29 3 0 01 Jul 2024
Diffusion-BBO: Diffusion-Based Inverse Modeling for Online Black-Box Optimization D. Wu Nikki Lijing Kuang Ruijia Niu Yi-An Ma Rose Yu 40 0 0 30 Jun 2024
KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation Hongyi Chen Abulikemu Abuduweili Aviral Agrawal Yunhai Han H. Ravichandar Changliu Liu Jeffrey Ichnowski 29 5 0 29 Jun 2024
Human-Agent Joint Learning for Efficient Robot Manipulation Skill Acquisition Shengcheng Luo Quanquan Peng Jun Lv Kaiwen Hong Katherine Rose Driggs-Campbell Cewu Lu Yong-Lu Li 44 3 0 29 Jun 2024
Language-Guided Object-Centric Diffusion Policy for Generalizable and Collision-Aware Robotic Manipulation Hang Li Qian Feng Zhi Zheng Jianxiang Feng Zhaopeng Chen Alois Knoll 23 1 0 29 Jun 2024
DISCO: Efficient Diffusion Solver for Large-Scale Combinatorial Optimization Problems Kexiong Yu Hang Zhao Yuhang Huang Renjiao Yi Kai Xu Chenyang Zhu 38 0 0 28 Jun 2024
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data Zeyi Liu Cheng Chi Eric A. Cousineau Naveen Kuppuswamy Benjamin Burchfiel Shuran Song VGen 36 23 0 27 Jun 2024
From Pixels to Torques with Linear Feedback Jeong Hun Lee Sam Schoedel Aditya Bhardwaj Zachary Manchester 31 0 0 26 Jun 2024
Dreamitate: Real-World Visuomotor Policy Learning via Video Generation Junbang Liang Ruoshi Liu Ege Ozguroglu Sruthi Sudhakar Achal Dave P. Tokmakov Shuran Song Carl Vondrick VGen 40 22 0 24 Jun 2024
Provable Statistical Rates for Consistency Diffusion Models Zehao Dou Minshuo Chen Mengdi Wang Zhuoran Yang DiffM 29 3 0 23 Jun 2024
Diffusion Spectral Representation for Reinforcement Learning Dmitry Shribak Chen-Xiao Gao Yitong Li Chenjun Xiao Bo Dai DiffM 21 3 0 23 Jun 2024
To Err is Robotic: Rapid Value-Based Trial-and-Error during Deployment Maximilian Du Alexander Khazatsky Tobias Gerstenberg Chelsea Finn 47 0 0 22 Jun 2024
Open-vocabulary Pick and Place via Patch-level Semantic Maps Mingxi Jia Haojie Huang Zhewen Zhang Chenghao Wang Linfeng Zhao Dian Wang J. Liu Robin Walters Robert Platt Stefanie Tellex LM&Ro 37 5 0 21 Jun 2024
Low Fidelity Visuo-Tactile Pretraining Improves Vision-Only Manipulation Performance Selam Gano Abraham George A. Farimani OnRL 40 1 0 21 Jun 2024
Mitigating the Human-Robot Domain Discrepancy in Visual Pre-training for Robotic Manipulation Jiaming Zhou Teli Ma Kun-Yu Lin Ronghe Qiu Zifan Wang Junwei Liang 41 3 0 20 Jun 2024
Variational Distillation of Diffusion Policies into Mixture of Experts Hongyi Zhou Denis Blessing Ge Li Onur Celik Xiaogang Jia Gerhard Neumann Rudolf Lioutikov DiffM 38 3 0 18 Jun 2024
Immiscible Diffusion: Accelerating Diffusion Training with Noise Assignment Yiheng Li Heyang Jiang Akio Kodaira M. Tomizuka Kurt Keutzer Chenfeng Xu DiffM 34 7 0 18 Jun 2024
Autoregressive Image Generation without Vector Quantization Tianhong Li Yonglong Tian He Li Mingyang Deng Kaiming He DiffM 43 171 0 17 Jun 2024
FetchBench: A Simulation Benchmark for Robot Fetching Beining Han Meenal Parakh Derek Geng Jack A. Defay Luyang Gan Jia Deng 33 1 0 17 Jun 2024
Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policies Haojie Huang Karl Schmeckpeper Dian Wang Ondrej Biza Yaoyao Qian Haotian Liu Mingxi Jia Robert Platt Robin Walters VGen LM&Ro 29 6 0 17 Jun 2024
AIC MLLM: Autonomous Interactive Correction MLLM for Robust Robotic Manipulation Chuyan Xiong Chengyu Shen Xiaoqi Li Kaichen Zhou Jiaming Liu Ruiping Wang Hao Dong LRM 30 10 0 17 Jun 2024
Learning Iterative Reasoning through Energy Diffusion Yilun Du Jiayuan Mao Joshua B. Tenenbaum LRM PINN 43 6 0 17 Jun 2024
Leveraging Locality to Boost Sample Efficiency in Robotic Manipulation Tong Zhang Yingdong Hu Jiacheng You Yang Gao 21 7 0 15 Jun 2024
HumanPlus: Humanoid Shadowing and Imitation from Humans Zipeng Fu Qingqing Zhao Qi Wu Gordon Wetzstein Chelsea Finn SyDa 30 88 0 15 Jun 2024
BiKC: Keypose-Conditioned Consistency Policy for Bimanual Robotic Manipulation Dongjie Yu Hang Xu Yizhou Chen Yi Ren Jia Pan 28 3 0 14 Jun 2024
dGrasp: NeRF-Informed Implicit Grasp Policies with Supervised Optimization Slopes Gergely Sóti Xi Huang C. Wurll Gergely Sóti 27 0 0 14 Jun 2024
Language-Guided Manipulation with Diffusion Policies and Constrained Inpainting Ce Hao Kelvin Lin Siyuan Luo Harold Soh 28 4 0 14 Jun 2024
CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making Zibin Dong Yifu Yuan Jianye Hao Fei Ni Yi Ma Pengyi Li Yan Zheng DiffM 50 8 0 13 Jun 2024
Rethinking Score Distillation as a Bridge Between Image Distributions David McAllister Songwei Ge Jia-Bin Huang David W. Jacobs Alexei A. Efros Aleksander Holyñski Angjoo Kanazawa DiffM 54 14 0 13 Jun 2024
OpenVLA: An Open-Source Vision-Language-Action Model Moo Jin Kim Karl Pertsch Siddharth Karamcheti Ted Xiao Ashwin Balakrishna ... Russ Tedrake Dorsa Sadigh Sergey Levine Percy Liang Chelsea Finn LM&Ro VLM 37 360 0 13 Jun 2024