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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
Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence Pranay Gupta H. Admoni Andrea Bajcsy 117 2 0 15 Jun 2025
Flow-Based Policy for Online Reinforcement Learning Lei Lv Y. Li Yu-Juan Luo F. Sun Tao Kong Jiafeng Xu Xiao Ma 288 7 0 15 Jun 2025
mimic-one: a Scalable Model Recipe for General Purpose Robot Dexterity Elvis Nava Victoriano Montesinos Erik Bauer Benedek Forrai Jonas Pai ... Stephan-Daniel Gravert Philipp Wand Stephan Polinski Benjamin Grewe Robert K. Katzschmann 129 3 0 13 Jun 2025
ExoStart: Efficient learning for dexterous manipulation with sensorized exoskeleton demonstrations Zilin Si José Enrique Chen M. Emre Karagozler Antonia Bronars Jonathan Hutchinson ... M. Martins Konstantinos Bousmalis N. Heess F. Nori Maria Bauza Villalonga 251 1 0 13 Jun 2025
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies Nadun Ranawaka Arachchige Zhenyang Chen Wonsuhk Jung Woo Chul Shin Rohan Bansal ... Yu Hang He Yingyang Celine Lin Benjamin Joffe Shreyas Kousik Danfei Xu 258 4 0 13 Jun 2025
Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusion Shunpeng Yang Zhen Fu Zhefeng Cao Guo Junde Patrick M. Wensing Wei Zhang Hua-zeng Chen 239 2 0 13 Jun 2025
Constrained Diffusion Models for Synthesizing Representative Power Flow Datasets Milad Hoseinpour Vladimir Dvorkin DiffM MedIm 187 0 0 12 Jun 2025
RationalVLA: A Rational Vision-Language-Action Model with Dual System Wenxuan Song Jiayi Chen Wenxue Li Xu He Han Zhao ... Xinhu Zheng Yanfeng Guo Hesheng Wang Yunhui Liu Haoang Li LM&Ro 423 10 0 12 Jun 2025
Demonstration Sidetracks: Categorizing Systematic Non-Optimality in Human Demonstrations Shijie Fang Hang Yu Qidi Fang Reuben M. Aronson E. Short 152 2 0 12 Jun 2025
Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation Ye Niu Sanping Zhou Yizhe Li Ye Den Le Wang 293 4 0 11 Jun 2025
SAFE: Multitask Failure Detection for Vision-Language-Action Models Qiao Gu Yuanliang Ju Shengxiang Sun Igor Gilitschenski Haruki Nishimura Masha Itkina Florian Shkurti 203 10 0 11 Jun 2025
Chain-of-Action: Trajectory Autoregressive Modeling for Robotic Manipulation Wenbo Zhang Tianrun Hu Yanyuan Qiao Hanbo Zhang Yuchu Qin Y. Li Jiajun Liu Tao Kong Lingqiao Liu Xiao Ma LRM 221 2 0 11 Jun 2025
eFlesh: Highly customizable Magnetic Touch Sensing using Cut-Cell Microstructures Venkatesh Pattabiraman Zizhou Huang Daniele Panozzo Denis Zorin Lerrel Pinto Raunaq M. Bhirangi 159 6 0 11 Jun 2025
From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models Irving Fang Juexiao Zhang Shengbang Tong Chen Feng LM&Ro 174 7 0 11 Jun 2025
ABC-FHE : A Resource-Efficient Accelerator Enabling Bootstrappable Parameters for Client-Side Fully Homomorphic EncryptionDesign Automation Conference (DAC), 2025 Sungwoong Yune Hyojeong Lee Adiwena Putra Hyunjun Cho Cuong Duong Manh Jaeho Jeon Joo-Young Kim 265 35 0 10 Jun 2025
TGRPO :Fine-tuning Vision-Language-Action Model via Trajectory-wise Group Relative Policy Optimization Zengjue Chen Runliang Niu He Kong Zhiqiang Zhang Qianli Xing Zipei Fan 268 14 0 10 Jun 2025
Accelerating Diffusion Planners in Offline RL via Reward-Aware Consistency Trajectory Distillation Xintong Duan Yutong He Fahim Tajwar Ruslan Salakhutdinov J. Zico Kolter J. Schneider OffRL 234 1 0 09 Jun 2025
Real-Time Execution of Action Chunking Flow Policies Kevin Black Manuel Y. Galliker Sergey Levine OffRL 461 31 0 09 Jun 2025
BridgeVLA: Input-Output Alignment for Efficient 3D Manipulation Learning with Vision-Language Models Peiyan Li Yixiang Chen Hongtao Wu Xiao Ma Xiangnan Wu Y. Huang Liang Wang Tao Kong Tieniu Tan 226 25 0 09 Jun 2025
Generative Modeling of Weights: Generalization or Memorization? Boya Zeng Yida Yin Zhiqiu Xu Zhuang Liu DiffM 268 2 0 09 Jun 2025
Diffuse Everything: Multimodal Diffusion Models on Arbitrary State Spaces Kevin Rojas Yuchen Zhu Sichen Zhu Felix X.-F. Ye Molei Tao DiffM 242 11 0 09 Jun 2025
Multi-Step Guided Diffusion for Image Restoration on Edge Devices: Toward Lightweight Perception in Embodied AI Aditya Chakravarty DiffM 76 0 0 08 Jun 2025
Generalized Trajectory Scoring for End-to-end Multimodal Planning Zhenxin Li Wenhao Yao Zi Wang Xinglong Sun Joshua Chen Nadine Chang Maying Shen Zuxuan Wu Shiyi Lan Jose M. Alvarez 150 18 0 07 Jun 2025
Where Do We Look When We Teach? Analyzing Human Gaze Behavior Across Demonstration Devices in Robot Imitation Learning Yutaro Ishida Takamitsu Matsubara Takayuki Kanai Kazuhiro Shintani Hiroshi Bito 158 0 0 06 Jun 2025
BEAST: Efficient Tokenization of B-Splines Encoded Action Sequences for Imitation Learning Hongyi Zhou Weiran Liao Xi Huang Yucheng Tang Fabian Otto ... Qian Wang Ömer Erdinç Yagmurlu Nils Blank Moritz Reuss Rudolf Lioutikov 301 2 0 06 Jun 2025
3DFlowAction: Learning Cross-Embodiment Manipulation from 3D Flow World Model Hongyan Zhi Peihao Chen Siyuan Zhou Yubo Dong Quanxi Wu Lei Han Mingkui Tan 363 11 0 06 Jun 2025
Diffusion-Based Hierarchical Graph Neural Networks for Simulating Nonlinear Solid Mechanics Tobias Würth Niklas Freymuth Gerhard Neumann Luise Kärger DiffM AI4CE 315 2 0 06 Jun 2025
Bridging Perspectives: A Survey on Cross-view Collaborative Intelligence with Egocentric-Exocentric Vision Yuping He Yifei Huang Guo Chen Lidong Lu Baoqi Pei Jilan Xu Tong Lu Yoichi Sato EgoV 357 2 0 06 Jun 2025
Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learning S. Chen Peiyu He Jiaxin Hu Ziyang Liu Y. Wang ... Zhenyi Zhang Zheyu Zhang D. Zhu Hang Li Yangang Zhang 194 2 0 06 Jun 2025
ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learning Zhao Jin Zhengping Che Zhen Zhao Kun Wu Yuheng Zhang ... Qiang Zhang Xiaozhu Ju Jing Tian Yousong Xue Jian Tang VGen 344 4 0 05 Jun 2025
A Smooth Sea Never Made a Skilled SAILOR: Robust Imitation via Learning to Search A. Jain Vibhakar Mohta Subin Kim Atiksh Bhardwaj Juntao Ren Yunhai Feng Sanjiban Choudhury Gokul Swamy OffRL 299 3 0 05 Jun 2025
DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration Lingxiao Guo Zhengrong Xue Zijing Xu Huazhe Xu 352 3 0 05 Jun 2025
LiPo: A Lightweight Post-optimization Framework for Smoothing Action Chunks Generated by Learned Policies Dongwoo Son Suhan Park 262 1 0 05 Jun 2025
Horizon Reduction Makes RL Scalable Seohong Park Kevin Frans Deepinder Mann Benjamin Eysenbach Aviral Kumar Sergey Levine OffRL 550 14 0 04 Jun 2025
SwitchVLA: Execution-Aware Task Switching for Vision-Language-Action Models Meng-Jie Li Zhen Zhao Zhengping Che Fei Liao Kun Wu Zhiyuan Xu Pei Ren Zhao Jin Ning Liu Yong Dai 244 7 0 04 Jun 2025
STAR: Learning Diverse Robot Skill Abstractions through Rotation-Augmented Vector Quantization Hao Li Qi Lv Rui Shao Xiang Deng Yinchuan Li Jianye Hao Liqiang Nie 410 6 0 04 Jun 2025
SLAC: Simulation-Pretrained Latent Action Space for Whole-Body Real-World RL Jiaheng Hu Peter Stone Roberto Martín-Martín 378 3 0 04 Jun 2025
Object-centric 3D Motion Field for Robot Learning from Human Videos Zhao-Heng Yin Sherry Yang Pieter Abbeel 234 2 0 04 Jun 2025
UniConFlow: A Unified Constrained Generalization Framework for Certified Motion Planning with Flow Matching Models Zewen Yang X. Dai Zewen Yang Qianru Li Yu Li Valentin Le Mesle 139 0 0 03 Jun 2025
Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent Kordel K. France Ovidiu Daescu 121 2 0 03 Jun 2025
Grasp2Grasp: Vision-Based Dexterous Grasp Translation via Schrödinger Bridges Tao Zhong Jonah Buchanan Christine Allen-Blanchette 232 1 0 03 Jun 2025
Rodrigues Network for Learning Robot Actions Jialiang Zhang Haoran Geng Yang You Congyue Deng Pieter Abbeel Jitendra Malik Leonidas Guibas AI4CE 253 0 0 03 Jun 2025
FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokens Yiming Zhong Yumeng Liu Chuyang Xiao Zemin Yang Youzhuo Wang Yufei Zhu Ye-ling Shi Yujing Sun X. Zhu Yuexin Ma 268 0 0 02 Jun 2025
FreeTacMan: Robot-free Visuo-Tactile Data Collection System for Contact-rich Manipulation Longyan Wu Checheng Yu Jieji Ren Li Chen Ran Huang Ran Huang Guoying Gu Hongyang Li 169 3 0 02 Jun 2025
Feel the Force: Contact-Driven Learning from Humans Ademi Adeniji Zhuoran Chen Vincent Liu Venkatesh Pattabiraman Raunaq M. Bhirangi Siddhant Haldar Pieter Abbeel Lerrel Pinto 225 4 0 02 Jun 2025
HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control Priya Sundaresan Rhea Malhotra Phillip Miao Jingyun Yang Jimmy Wu Hengyuan Hu Rika Antonova Francis Engelmann Dorsa Sadigh Jeannette Bohg 250 4 0 01 Jun 2025
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving Florian Wintel Sigmund H. Høeg G. Kiss Frank Lindseth 138 2 0 31 May 2025
STORK: Faster Diffusion And Flow Matching Sampling By Resolving Both Stiffness And Structure-Dependence Zheng Tan Weizhen Wang Andrea L. Bertozzi Ernest K. Ryu DiffM 154 2 0 30 May 2025
Towards a Generalizable Bimanual Foundation Policy via Flow-based Video Prediction Chenyou Fan Fangzheng Yan Fuchun Sun Jiepeng Wang Fangqiu Yi Zhen Wang Xuelong Li VGen 1.0K 2 0 30 May 2025
Interactive Imitation Learning for Dexterous Robotic Manipulation: Challenges and Perspectives -- A Survey Edgar Welte Rania Rayyes 323 3 0 30 May 2025

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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

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