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
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding Han Xue Yutong Li Wenqiang Xu Huanyu Li Dongzhe Zheng Cewu Lu 23 14 0 02 Nov 2023
Diffusion Models for Reinforcement Learning: A Survey Zhengbang Zhu Hanye Zhao Haoran He Yichao Zhong Shenyu Zhang Haoquan Guo Tingting Chen Weinan Zhang 27 58 0 02 Nov 2023
Large Trajectory Models are Scalable Motion Predictors and Planners Q. Sun Shiduo Zhang Danjiao Ma Jingzhe Shi Derun Li Simian Luo Yu Wang Ningyi Xu Guangzhi Cao Hang Zhao 16 13 0 30 Oct 2023
Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Plans Kyowoon Lee Seongun Kim Jaesik Choi DiffM 8 9 0 30 Oct 2023
Free from Bellman Completeness: Trajectory Stitching via Model-based Return-conditioned Supervised Learning Zhaoyi Zhou Chuning Zhu Runlong Zhou Qiwen Cui Abhishek Gupta S. S. Du OffRL 22 8 0 30 Oct 2023
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations Ajay Mandlekar Soroush Nasiriany Bowen Wen Iretiayo Akinola Yashraj S. Narang Linxi Fan Yuke Zhu Dieter Fox LM&Ro 82 99 0 26 Oct 2023
MMP++: Motion Manifold Primitives with Parametric Curve Models Yonghyeon Lee 21 3 0 26 Oct 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations Yifeng Zhu Zhenyu Jiang Peter Stone Yuke Zhu 3DPC 17 43 0 22 Oct 2023
Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning Sachit Kuhar Shuo Cheng Shivang Chopra Matthew Bronars Danfei Xu 30 8 0 22 Oct 2023
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States Zidan Wang Takeru Oba Takuma Yoneda Rui Shen Matthew R. Walter Bradly C. Stadie DiffM 25 9 0 21 Oct 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation Mengchao Zhang Jose Barreiros Aykut Özgün Önol 19 4 0 18 Oct 2023
Butterfly Effects of SGD Noise: Error Amplification in Behavior Cloning and Autoregression Adam Block Dylan J. Foster Akshay Krishnamurthy Max Simchowitz Cyril Zhang 23 4 0 17 Oct 2023
Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models Kevin Black Mitsuhiko Nakamoto P. Atreya Homer Walke Chelsea Finn Aviral Kumar Sergey Levine DiffM LM&Ro 24 132 0 16 Oct 2023
Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning Chahyon Ku Carl Winge Ryan Diaz Wentao Yuan Karthik Desingh 11 3 0 15 Oct 2023
Adaptive Online Replanning with Diffusion Models Siyuan Zhou Yilun Du Shun Zhang Mengdi Xu Yikang Shen Wei Xiao Dit-Yan Yeung Chuang Gan 13 22 0 14 Oct 2023
Compositional Abilities Emerge Multiplicatively: Exploring Diffusion Models on a Synthetic Task Maya Okawa Ekdeep Singh Lubana Robert P. Dick Hidenori Tanaka CoGe DiffM 35 43 0 13 Oct 2023
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models Utkarsh Aashu Mishra Shangjie Xue Yongxin Chen Danfei Xu LRM 28 65 0 13 Oct 2023
Learning to Act from Actionless Videos through Dense Correspondences Po-Chen Ko Jiayuan Mao Yilun Du Shao-Hua Sun Josh Tenenbaum 22 73 0 12 Oct 2023
Interpretable Diffusion via Information Decomposition Xianghao Kong Ollie Liu Han Li Dani Yogatama Greg Ver Steeg 16 19 0 12 Oct 2023
NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration A. Sridhar Dhruv Shah Catherine Glossop Sergey Levine 23 112 0 11 Oct 2023
DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots Jianwei Liu Maria Stamatopoulou Dimitrios Kanoulas 6 17 0 11 Oct 2023
Imitation Learning from Purified Demonstration Yunke Wang Minjing Dong Bo Du Chang Xu 24 1 0 11 Oct 2023
Boosting Continuous Control with Consistency Policy Yuhui Chen Haoran Li Dongbin Zhao OffRL 27 19 0 10 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning Kaustubh Sridhar Souradeep Dutta Dinesh Jayaraman James Weimer Insup Lee 31 8 0 09 Oct 2023
Toward a Plug-and-Play Vision-Based Grasping Module for Robotics Amitayush Thakur J. Huber Yeming Wen Stéphane Doncieux 24 3 0 06 Oct 2023
Aligning Text-to-Image Diffusion Models with Reward Backpropagation Mihir Prabhudesai Anirudh Goyal Deepak Pathak Katerina Fragkiadaki 27 108 0 05 Oct 2023
Human-oriented Representation Learning for Robotic Manipulation Mingxiao Huo Mingyu Ding Chenfeng Xu Thomas Tian Xinghao Zhu Yao Mu Lingfeng Sun Masayoshi Tomizuka Wei Zhan SSL 28 12 0 04 Oct 2023
Active-Perceptive Motion Generation for Mobile Manipulation Snehal Jauhri Sophie Lueth Georgia Chalvatzaki 17 6 0 30 Sep 2023
Consistency Models as a Rich and Efficient Policy Class for Reinforcement Learning Daoce Wang Chi Jin OffRL DiffM 14 25 0 29 Sep 2023
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models Yixuan Huang Jialin Yuan Chanho Kim Pupul Pradhan Bryan Chen Fuxin Li Tucker Hermans 23 7 0 26 Sep 2023
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild Hongjie Fang Haoshu Fang Yiming Wang Jieji Ren Jing Chen Ruo Zhang Weiming Wang Cewu Lu 27 46 0 26 Sep 2023
Lifelong Robot Learning with Human Assisted Language Planners Meenal Parakh Alisha Fong Anthony Simeonov Tao Chen Abhishek Gupta Pulkit Agrawal LM&Ro 30 13 0 25 Sep 2023
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning Kallol Saha V. Mandadi Jayaram Reddy Ajit Srikanth Aditya Agarwal Bipasha Sen Arun Singh Madhava Krishna DiffM 9 25 0 20 Sep 2023
Revisiting Energy Based Models as Policies: Ranking Noise Contrastive Estimation and Interpolating Energy Models Sumeet Singh Stephen Tu Vikas Sindhwani DiffM 15 8 0 11 Sep 2023
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation Hyunwoo Ryu Jiwoo Kim Hyun Seok Ahn Junwoo Chang Joohwan Seo Taehan Kim Yubin Kim Chaewon Hwang Jongeun Choi R. Horowitz DiffM 16 33 0 06 Sep 2023
Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies Tianyu Li Nadia Figueroa 11 7 0 05 Sep 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control Vince Kurtz Alejandro Castro Aykut Özgün Önol Hai Lin 39 15 0 04 Sep 2023
Integrating LLMs and Decision Transformers for Language Grounded Generative Quality-Diversity Achkan Salehi Stéphane Doncieux 18 0 0 25 Aug 2023
BridgeData V2: A Dataset for Robot Learning at Scale Homer Walke Kevin Black Abraham Lee Moo Jin Kim Maximilian Du ... Andre Wang He Vivek Myers Kuan Fang Chelsea Finn Sergey Levine 13 203 0 24 Aug 2023
Provable Guarantees for Generative Behavior Cloning: Bridging Low-Level Stability and High-Level Behavior Adam Block Ali Jadbabaie Daniel Pfrommer Max Simchowitz Russ Tedrake DiffM 25 22 0 27 Jul 2023
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition Huy Ha Peter R. Florence Shuran Song LM&Ro 34 148 0 26 Jul 2023
Waypoint-Based Imitation Learning for Robotic Manipulation Lu Shi Archit Sharma Tony Zhao Chelsea Finn 12 52 0 26 Jul 2023
XSkill: Cross Embodiment Skill Discovery Mengda Xu Zhenjia Xu Cheng Chi Manuela Veloso Shuran Song 11 65 0 19 Jul 2023
Diffusion Models for Multi-target Adversarial Tracking Sean Ye Manisha Natarajan Zixuan Wu Matthew C. Gombolay DiffM 31 3 0 12 Jul 2023
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning Krishan Rana Jesse Haviland Sourav Garg Jad Abou-Chakra Ian Reid Niko Sünderhauf LM&Ro 35 217 0 12 Jul 2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement Anthony Simeonov Ankit Goyal Lucas Manuelli Lin Yen-Chen Alina Sarmiento Alberto Rodriguez Pulkit Agrawal D. Fox DiffM 34 38 0 10 Jul 2023
Diffusion Policies for Out-of-Distribution Generalization in Offline Reinforcement Learning S. E. Ada Erhan Öztop Emre Ugur OffRL 33 15 0 10 Jul 2023
Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning Xiang Li Varun Belagali Jinghuan Shang Michael S. Ryoo 29 28 0 04 Jul 2023
HYDRA: Hybrid Robot Actions for Imitation Learning Suneel Belkhale Yuchen Cui Dorsa Sadigh 13 35 0 29 Jun 2023
What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery Peide Huang Xilun Zhang Ziang Cao Shiqi Liu Mengdi Xu Wenhao Ding Jonathan M Francis Bingqing Chen Ding Zhao 36 24 0 28 Jun 2023