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
Learning Visuotactile Skills with Two Multifingered Hands Toru Lin Yu Zhang Qiyang Li Haozhi Qi Brent Yi Sergey Levine Jitendra Malik 39 52 0 25 Apr 2024
Leveraging Pretrained Latent Representations for Few-Shot Imitation Learning on a Dexterous Robotic Hand Davide Liconti Yasunori Toshimitsu Robert K. Katzschmann 43 3 0 25 Apr 2024
AFU: Actor-Free critic Updates in off-policy RL for continuous control Nicolas Perrin-Gilbert OffRL 27 0 0 24 Apr 2024
Logic Learning from Demonstrations for Multi-step Manipulation Tasks in Dynamic Environments Yan Zhang Teng Xue Amirreza Razmjoo Sylvain Calinon 29 2 0 24 Apr 2024
ViViDex: Learning Vision-based Dexterous Manipulation from Human Videos Zerui Chen Shizhe Chen Cordelia Schmid Ivan Laptev Cordelia Schmid 33 11 0 24 Apr 2024
Diff-Control: A Stateful Diffusion-based Policy for Imitation Learning Xiao Liu Yifan Zhou F. Weigend Shubham D. Sonawani Shuhei Ikemoto H. B. Amor 29 1 0 18 Apr 2024
RoboDreamer: Learning Compositional World Models for Robot Imagination Siyuan Zhou Yilun Du Jiaben Chen Yandong Li Dit-Yan Yeung Chuang Gan VGen LM&Ro 69 27 0 18 Apr 2024
RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective Chenxi Wang Hongjie Fang Haoshu Fang Cewu Lu VGen 29 19 0 18 Apr 2024
An Overview of Diffusion Models: Applications, Guided Generation, Statistical Rates and Optimization Minshuo Chen Song Mei Jianqing Fan Mengdi Wang VLM MedIm DiffM 32 48 0 11 Apr 2024
One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting Albert Wu Ruocheng Wang Sirui Chen Clemens Eppner C. Karen Liu 35 3 0 11 Apr 2024
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks Kaylee Burns Ajinkya Jain Keegan Go Fei Xia Michael Stark S. Schaal Karol Hausman 29 4 0 09 Apr 2024
RoboMP $^2$ : A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models Qi Lv Haochuan Li Xiang Deng Rui Shao Michael Yu Wang Liqiang Nie LRM LM&Ro 27 1 0 07 Apr 2024
Regularized Conditional Diffusion Model for Multi-Task Preference Alignment Xudong Yu Chenjia Bai Haoran He Changhong Wang Xuelong Li 32 6 0 07 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic Assembly Lars Ankile Anthony Simeonov Idan Shenfeld Pulkit Agrawal LM&Ro 27 15 0 04 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approaches Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 38 22 0 03 Apr 2024
APEX: Ambidextrous Dual-Arm Robotic Manipulation Using Collision-Free Generative Diffusion Models Apan Dastider Hao Fang Mingjie Lin 33 2 0 02 Apr 2024
Confidence-aware Reward Optimization for Fine-tuning Text-to-Image Models Kyuyoung Kim Jongheon Jeong Minyong An Mohammad Ghavamzadeh Krishnamurthy Dvijotham Jinwoo Shin Kimin Lee EGVM 29 6 0 02 Apr 2024
Versatile Navigation under Partial Observability via Value-guided Diffusion Policy Gengyu Zhang Hao Tang Yan Yan 28 2 0 01 Apr 2024
InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interaction Sirui Xu Ziyin Wang Yu-Xiong Wang Liangyan Gui 37 24 0 28 Mar 2024
Human-compatible driving partners through data-regularized self-play reinforcement learning Daphne Cornelisse Eugene Vinitsky 30 6 0 28 Mar 2024
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo Edward Johns 41 30 0 28 Mar 2024
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation Chongkai Gao Zhengrong Xue Shuying Deng Tianhai Liang Siqi Yang Lin Shao Huazhe Xu 3DPC 29 10 0 28 Mar 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic Kashyap Chitta D. Dauner Andreas Geiger 3DGS 39 5 0 26 Mar 2024
A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models Nils Ingelhag Jesper Munkeby Jonne van Haastregt Anastasia Varava Michael C. Welle Danica Kragic 36 5 0 25 Mar 2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics Qiaojun Yu Ce Hao Junbo Wang Wenhai Liu Liu Liu Yao Mu Yang You Hengxu Yan Cewu Lu 28 5 0 20 Mar 2024
A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation Masashi Okada Mayumi Komatsu Tadahiro Taniguchi DiffM 27 0 0 20 Mar 2024
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation Zixuan Huang Yating Lin Fan Yang Dmitry Berenson 29 4 0 19 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Jun Yamada Shaohong Zhong Jack Collins Ingmar Posner 45 4 0 19 Mar 2024
Policy Bifurcation in Safe Reinforcement Learning Wenjun Zou Yao Lyu Jie Li Yujie Yang Shengbo Eben Li Jingliang Duan Xianyuan Zhan Jingjing Liu Yaqin Zhang Keqiang Li 35 1 0 19 Mar 2024
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy Tianhao Wu Yunchong Gan Mingdong Wu Jingbo Cheng Yaodong Yang Yixin Zhu Hao Dong 43 0 0 19 Mar 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 41 172 0 19 Mar 2024
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile Flight Jiaxu Xing Angel Romero L. Bauersfeld Davide Scaramuzza 40 14 0 18 Mar 2024
Diffusion-Reinforcement Learning Hierarchical Motion Planning in Multi-agent Adversarial Games Zixuan Wu Sean Ye Manisha Natarajan Matthew C. Gombolay 75 6 0 16 Mar 2024
Riemannian Flow Matching Policy for Robot Motion Learning Max Braun Noémie Jaquier Leonel Rozo Tamim Asfour 28 11 0 15 Mar 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 42 33 0 15 Mar 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy Alison Bartsch Arvind Car Charlotte Avra A. Farimani 28 5 0 15 Mar 2024
DTG : Diffusion-based Trajectory Generation for Mapless Global Navigation Jing Liang Amirreza Payandeh Daeun Song Xuesu Xiao Dinesh Manocha 26 6 0 14 Mar 2024
InfoCon: Concept Discovery with Generative and Discriminative Informativeness Ruizhe Liu Qian Luo Yanchao Yang 27 2 0 14 Mar 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic Manipulation Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Güzey Siddhant Haldar Soumith Chintala Lerrel Pinto 31 48 0 12 Mar 2024
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang Haochen Shi Weizhuo Wang Ruohan Zhang Fei-Fei Li Karen Liu 47 103 0 12 Mar 2024
Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of Experts Onur Celik Aleksandar Taranovic Gerhard Neumann 26 7 0 11 Mar 2024
Speeding up 6-DoF Grasp Sampling with Quality-Diversity J. Huber Franccois Hélénon Mathilde Kappel Elie Chelly Mahdi Khoramshahi F. B. Amar Stéphane Doncieux 27 3 0 10 Mar 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control Jiange Yang Bei Liu Jianlong Fu Bocheng Pan Gangshan Wu Limin Wang 29 10 0 08 Mar 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao Annie Xie Ted Xiao Chelsea Finn Dorsa Sadigh 29 19 0 08 Mar 2024
DNAct: Diffusion Guided Multi-Task 3D Policy Learning Ge Yan Yueh-hua Wu Xiaolong Wang VGen 27 20 0 07 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 37 76 0 06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation M. Torné Anthony Simeonov Zechu Li April Chan Tao Chen Abhishek Gupta Pulkit Agrawal 42 56 0 06 Mar 2024
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation Xiao Ma Sumit Patidar Iain Haughton Stephen James 35 49 0 06 Mar 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 27 64 0 05 Mar 2024
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning Tian Gao Soroush Nasiriany Huihan Liu Quantao Yang Yuke Zhu 24 7 0 01 Mar 2024