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
MaIL: Improving Imitation Learning with Mamba Xiaogang Jia Qian Wang Atalay Donat Bowen Xing Ge Li Hongyi Zhou Onur Celik Denis Blessing Rudolf Lioutikov Gerhard Neumann Mamba 30 10 0 12 Jun 2024
Scaling Manipulation Learning with Visual Kinematic Chain Prediction Xinyu Zhang Yuhan Liu Haonan Chang Abdeslam Boularias 44 1 0 12 Jun 2024
BAKU: An Efficient Transformer for Multi-Task Policy Learning Siddhant Haldar Zhuoran Peng Lerrel Pinto OffRL 32 25 0 11 Jun 2024
Flow Map Matching Nicholas M. Boffi M. S. Albergo Eric Vanden-Eijnden 27 4 0 11 Jun 2024
PlanDQ: Hierarchical Plan Orchestration via D-Conductor and Q-Performer Chang Chen Junyeob Baek Fei Deng Kenji Kawaguchi Çağlar Gülçehre Sungjin Ahn OffRL 22 1 0 10 Jun 2024
Phase-Amplitude Reduction-Based Imitation Learning Satoshi Yamamori Jun Morimoto 18 0 0 06 Jun 2024
Adaptive Distance Functions via Kelvin Transformation Rafael I. Cabral Muchacho Florian T. Pokorny 32 2 0 05 Jun 2024
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots Soroush Nasiriany Abhiram Maddukuri Lance Zhang Adeet Parikh Aaron Lo Abhishek Joshi Ajay Mandlekar Yuke Zhu LM&Ro 38 69 0 04 Jun 2024
Constraint-Aware Diffusion Models for Trajectory Optimization Anjian Li Zihan Ding Adji Bousso Dieng Ryne T. Beeson 45 4 0 03 Jun 2024
PDP: Physics-Based Character Animation via Diffusion Policy Takara E. Truong Michael Piseno Zhaoming Xie C. Karen Liu VGen 40 6 0 03 Jun 2024
ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation Guanxing Lu Zifeng Gao Tianxing Chen Wen-Dao Dai Ziwei Wang Yansong Tang Yansong Tang DiffM 68 14 0 03 Jun 2024
Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient Zechu Li Rickmer Krohn Tao Chen Anurag Ajay Pulkit Agrawal Georgia Chalvatzaki DiffM 42 8 0 02 Jun 2024
Instruction-Guided Visual Masking Jinliang Zheng Jianxiong Li Si Cheng Yinan Zheng Jiaming Li Jihao Liu Yu Liu Jingjing Liu Xianyuan Zhan 45 5 0 30 May 2024
Predicting Long-Term Human Behaviors in Discrete Representations via Physics-Guided Diffusion Zhitian Zhang Anjian Li Angelica Lim Mo Chen 28 3 0 29 May 2024
Diffusion Policy Attacker: Crafting Adversarial Attacks for Diffusion-based Policies Yipu Chen Haotian Xue Yongxin Chen AAML 27 4 0 29 May 2024
Data Efficient Behavior Cloning for Fine Manipulation via Continuity-based Corrective Labels Abhay Deshpande Liyiming Ke Quinn Pfeifer Abhishek Gupta S. Srinivasa 45 1 0 29 May 2024
DiPPeST: Diffusion-based Path Planner for Synthesizing Trajectories Applied on Quadruped Robots Maria Stamatopoulou Jianwei Liu Dimitrios Kanoulas 26 9 0 29 May 2024
Long-Horizon Rollout via Dynamics Diffusion for Offline Reinforcement Learning Hanye Zhao Xiaoshen Han Zhengbang Zhu Minghuan Liu Yong Yu Weinan Zhang OffRL 37 0 0 29 May 2024
Empowering Embodied Manipulation: A Bimanual-Mobile Robot Manipulation Dataset for Household Tasks Tianle Zhang Dongjiang Li Yihang Li Zecui Zeng Lin Zhao ... Yue Chen Xuelong Wei Yibing Zhan Lusong Li Xiaodong He 22 7 0 29 May 2024
Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand Zilin Si Kevin Zhang F. Z. Temel Oliver Kroemer 48 8 0 29 May 2024
Model-Based Diffusion for Trajectory Optimization Chaoyi Pan Zeji Yi Guanya Shi Guannan Qu 43 6 0 28 May 2024
Render and Diffuse: Aligning Image and Action Spaces for Diffusion-based Behaviour Cloning Vitalis Vosylius Younggyo Seo Jafar Uruç Stephen James 30 12 0 28 May 2024
Diffusion-Reward Adversarial Imitation Learning Chun-Mao Lai Hsiang-Chun Wang Ping-Chun Hsieh Yu-Chiang Frank Wang Min-Hung Chen Shao-Hua Sun 32 8 0 25 May 2024
Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimization Shutong Ding Ke Hu Zhenhao Zhang Kan Ren Weinan Zhang Jingyi Yu Jingya Wang Ye-ling Shi 32 7 0 25 May 2024
iVideoGPT: Interactive VideoGPTs are Scalable World Models Jialong Wu Shaofeng Yin Ningya Feng Xu He Dong Li Jianye Hao Mingsheng Long VGen 35 23 0 24 May 2024
Diffusion Actor-Critic with Entropy Regulator Yinuo Wang Likun Wang Yuxuan Jiang Wenjun Zou Tong Liu ... Wenxuan Wang Liming Xiao Jiang Wu Jingliang Duan Shengbo Eben Li DiffM 40 9 0 24 May 2024
DIDI: Diffusion-Guided Diversity for Offline Behavioral Generation Jinxin Liu Xinghong Guo Zifeng Zhuang Donglin Wang DiffM OffRL 37 2 0 23 May 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 67 41 0 23 May 2024
Octo: An Open-Source Generalist Robot Policy Octo Model Team Dibya Ghosh Homer Walke Karl Pertsch Kevin Black ... Quan Vuong Ted Xiao Dorsa Sadigh Chelsea Finn Sergey Levine 55 354 0 20 May 2024
Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skills Tianhao Wei Liqian Ma Rui Chen Weiye Zhao Changliu Liu 37 2 0 18 May 2024
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction Yunfan Jiang Chen Wang Ruohan Zhang Jiajun Wu Fei-Fei Li OnRL 30 26 0 16 May 2024
Dynamic On-Palm Manipulation via Controlled Sliding William Yang Michael Posa 46 9 0 14 May 2024
Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation Jared Mejia Victoria Dean Tess Hellebrekers Abhinav Gupta 35 12 0 14 May 2024
Reducing Risk for Assistive Reinforcement Learning Policies with Diffusion Models Andrii Tytarenko OffRL 26 1 0 13 May 2024
Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation Aaditya Prasad Kevin Qinghong Lin Jimmy Wu Linqi Zhou Jeannette Bohg 26 50 0 13 May 2024
Evaluating Real-World Robot Manipulation Policies in Simulation Xuanlin Li Kyle Hsu Jiayuan Gu Karl Pertsch Oier Mees ... Jiajun Wu Chelsea Finn Hao Su Q. Vuong Ted Xiao OffRL 37 61 0 09 May 2024
Composable Part-Based Manipulation Weiyu Liu Jiayuan Mao Joy Hsu Tucker Hermans Animesh Garg Jiajun Wu 36 11 0 09 May 2024
ExACT: An End-to-End Autonomous Excavator System Using Action Chunking With Transformers Liangliang Chen Shiyu Jin Haoyu Wang Liangjun Zhang 29 0 0 09 May 2024
Pre-trained Text-to-Image Diffusion Models Are Versatile Representation Learners for Control Gunshi Gupta Karmesh Yadav Y. Gal Dhruv Batra Z. Kira Cong Lu Tim G. J. Rudner 39 7 0 09 May 2024
How Generalizable Is My Behavior Cloning Policy? A Statistical Approach to Trustworthy Performance Evaluation Joseph A. Vincent Haruki Nishimura Masha Itkina Paarth Shah Mac Schwager Thomas Kollar OffRL 29 9 0 08 May 2024
Learning Distributional Demonstration Spaces for Task-Specific Cross-Pose Estimation Jenny Wang Octavian A. Donca David Held 29 1 0 07 May 2024
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting O. Shorinwa Johnathan Tucker Aliyah Smith Aiden Swann Timothy Chen Roya Firoozi Monroe Kennedy Mac Schwager 29 22 0 07 May 2024
LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning Zeyu Feng Hao Luan Pranav Goyal Harold Soh 16 6 0 07 May 2024
Logic-Skill Programming: An Optimization-based Approach to Sequential Skill Planning Teng Xue Amirreza Razmjoo Suhan Shetty Sylvain Calinon 14 4 0 07 May 2024
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning Kota Kondo Andrea Tagliabue Xiaoyi Cai Claudius T. Tewari Olivia Garcia Marcos Espitia-Alvarez Jonathan P. How 36 4 0 02 May 2024
Differentiable Particles for General-Purpose Deformable Object Manipulation Siwei Chen Yiqing Xu Cunjun Yu Linfeng Li David Hsu 38 6 0 02 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic K. Sreenath OffRL 75 26 0 30 Apr 2024
MRIC: Model-Based Reinforcement-Imitation Learning with Mixture-of-Codebooks for Autonomous Driving Simulation Baotian He Yibing Li 39 0 0 29 Apr 2024
What Foundation Models can Bring for Robot Learning in Manipulation : A Survey Dingzhe Li Yixiang Jin A. Yong Hongze Yu Jun Shi Xiaoshuai Hao Peng Hao Huaping Liu Fuchun Sun Bin Fang AI4CE LM&Ro 64 13 0 28 Apr 2024
Efficient Bi-manipulation using RGBD Multi-model Fusion based on Attention Mechanism Jian Shen Jiaxin Huang Zhigong Song 16 0 0 27 Apr 2024