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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

Eric A. Cousineau

Benjamin Burchfiel

Shuran Song

ArXiv (abs)PDF HTML HuggingFace (5 upvotes)

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

50 / 1,494 papers shown

Guiding Data Collection via Factored Scaling Curves

Guiding Data Collection via Factored Scaling Curves

Apurva Badithela

Anirudha Majumdar

445

6

0

12 May 2025

DexWild: Dexterous Human Interactions for In-the-Wild Robot Policies

DexWild: Dexterous Human Interactions for In-the-Wild Robot PoliciesRobotics (RAS), 2025

Mohan Kumar Srirama

Jason Jingzhou Liu

204

14

0

12 May 2025

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

Edward Weiyi Duan

Maximus Adrian Pace

Sanjiban Choudhury

665

9

0

11 May 2025

Efficient Robotic Policy Learning via Latent Space Backward Planning

Efficient Robotic Policy Learning via Latent Space Backward Planning

316

5

0

11 May 2025

UniVLA: Learning to Act Anywhere with Task-centric Latent Actions

UniVLA: Learning to Act Anywhere with Task-centric Latent ActionsRobotics (RAS), 2025

895

107

0

09 May 2025

Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives

Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternatives

Gadiel Sznaier Camps

Guillaume Sartoretti

282

4

0

09 May 2025

3D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Tasks

3D CAVLA: Leveraging Depth and 3D Context to Generalize Vision Language Action Models for Unseen Tasks

Prashanth Krishnamurthy

Farshad Khorrami

467

7

0

09 May 2025

Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation

Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulation

Daniel Felipe Ordoñez Apraez

Georgia Chalvatzaki

994

0

0

08 May 2025

StreamBridge: Turning Your Offline Video Large Language Model into a Proactive Streaming Assistant

StreamBridge: Turning Your Offline Video Large Language Model into a Proactive Streaming Assistant

621

7

0

08 May 2025

CLAM: Continuous Latent Action Models for Robot Learning from Unlabeled Demonstrations

CLAM: Continuous Latent Action Models for Robot Learning from Unlabeled Demonstrations

459

10

0

08 May 2025

Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking

Robust Model-Based In-Hand Manipulation with Integrated Real-Time Motion-Contact Planning and Tracking

Masayoshi Tomizuka

298

2

0

08 May 2025

Diffusion Models are Secretly Exchangeable: Parallelizing DDPMs via Autospeculation

Diffusion Models are Secretly Exchangeable: Parallelizing DDPMs via Autospeculation

351

5

0

06 May 2025

Wasserstein Convergence of Score-based Generative Models under Semiconvexity and Discontinuous Gradients

Wasserstein Convergence of Score-based Generative Models under Semiconvexity and Discontinuous Gradients

Sotirios Sabanis

477

6

0

06 May 2025

Task Reconstruction and Extrapolation for $π_0$ using Text Latent

Task Reconstruction and Extrapolation for

π_0

using Text Latent

645

2

0

06 May 2025

OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation

OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation

...

318

39

0

06 May 2025

The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning

The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning

Jan Ole von Hartz

Joschka Boedecker

308

2

0

06 May 2025

Latent Adaptive Planner for Dynamic Manipulation

Latent Adaptive Planner for Dynamic Manipulation

Andrew Lizarraga

899

2

0

06 May 2025

Dexterous Contact-Rich Manipulation via the Contact Trust Region

Dexterous Contact-Rich Manipulation via the Contact Trust Region

452

15

0

04 May 2025

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation

KineDex: Learning Tactile-Informed Visuomotor Policies via Kinesthetic Teaching for Dexterous Manipulation

289

3

0

04 May 2025

Coupled Distributional Random Expert Distillation for World Model Online Imitation Learning

Coupled Distributional Random Expert Distillation for World Model Online Imitation Learning

364

1

0

04 May 2025

Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions

Interleave-VLA: Enhancing Robot Manipulation with Interleaved Image-Text Instructions

...

Masayoshi Tomizuka

371

25

0

04 May 2025

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation

CrayonRobo: Object-Centric Prompt-Driven Vision-Language-Action Model for Robotic Manipulation

...

Shanghang Zhang

266

4

0

04 May 2025

Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learning

Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learning

936

0

0

03 May 2025

Model Tensor Planning

Model Tensor Planning

287

0

0

02 May 2025

ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action Flow

ViSA-Flow: Accelerating Robot Skill Learning via Large-Scale Video Semantic Action FlowUSENIX Security Symposium (USENIX Security), 2023

430

4

0

02 May 2025

Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings

Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings

Andreas Sochopoulos

Nikolaos Tsagkas

Michael Gienger

291

2

0

02 May 2025

Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures

Uncertainty-aware Latent Safety Filters for Avoiding Out-of-Distribution Failures

Kensuke Nakamura

Andrea V. Bajcsy

411

10

0

01 May 2025

A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI

A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AI

Lik Hang Kenny Wong

394

11

0

01 May 2025

DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation

DeCo: Task Decomposition and Skill Composition for Zero-Shot Generalization in Long-Horizon 3D Manipulation

308

5

0

01 May 2025

TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching

TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matching

224

2

0

01 May 2025

J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

Shivani Guptasarma

Monroe Kennedy III

377

0

0

01 May 2025

Generative Machine Learning in Adaptive Control of Dynamic Manufacturing Processes: A Review

Generative Machine Learning in Adaptive Control of Dynamic Manufacturing Processes: A Review

404

2

0

30 Apr 2025

RoboGround: Robotic Manipulation with Grounded Vision-Language Priors

RoboGround: Robotic Manipulation with Grounded Vision-Language PriorsComputer Vision and Pattern Recognition (CVPR), 2025

410

14

0

30 Apr 2025

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning

LangWBC: Language-directed Humanoid Whole-Body Control via End-to-end Learning

Koushil Sreenath

844

16

0

30 Apr 2025

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings

SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings

Jörn Griepenburg

Jasper Güldenstein

373

1

0

29 Apr 2025

PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking

PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking

393

5

0

29 Apr 2025

PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations

PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations

271

1

0

29 Apr 2025

Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions

Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions

Norimichi Ukita

325

0

0

28 Apr 2025

GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning

GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning

306

0

0

28 Apr 2025

NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks

NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks

Navonil Majumder

392

37

0

28 Apr 2025

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies

PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion PoliciesIEEE International Conference on Robotics and Automation (ICRA), 2025

Naveen Kuppuswamy

Benjamin Burchfiel

Edward H. Adelson

262

13

0

27 Apr 2025

Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability

Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and ScalabilityIEEE International Symposium on Performance Analysis of Systems and Software (ISPASS), 2025

Jason J. Jabbour

Yang Katie Zhao

A. Raychowdhury

Vijay Janapa Reddi

395

2

0

26 Apr 2025

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

...

434

40

0

26 Apr 2025

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation

STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation

313

1

0

26 Apr 2025

Instrumentation for Better Demonstrations: A Case Study

Instrumentation for Better Demonstrations: A Case Study

Remko Proesmans

Francis Wyffels

287

0

0

25 Apr 2025

RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping

RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping

Atsushi Kanehira

Kazuhiro Sasabuchi

Katsushi Ikeuchi

242

0

0

25 Apr 2025

PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation

PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation

416

8

0

23 Apr 2025

Latent Diffusion Planning for Imitation Learning

Latent Diffusion Planning for Imitation Learning

369

7

0

23 Apr 2025

MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning

MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning

Maxim Likhachev

250

3

0

23 Apr 2025

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators

Arvind Kruthiventy

207

0

0

23 Apr 2025

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