Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

36 / 786 papers shown

Title
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors Gaurav Datta Ryan Hoque Anrui Gu Eugen Solowjow Ken Goldberg 23 3 0 27 Jun 2023
RVT: Robotic View Transformer for 3D Object Manipulation Ankit Goyal Jie Xu Yijie Guo Valts Blukis Yu-Wei Chao D. Fox LM&Ro 34 117 0 26 Jun 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching H. Suh Glen Chou Hongkai Dai Lujie Yang Abhishek Gupta Russ Tedrake DiffM OffRL 15 7 0 24 Jun 2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability Xiaolin Fang Caelan Reed Garrett Clemens Eppner Tomás Lozano-Pérez L. Kaelbling D. Fox DiffM 23 17 0 22 Jun 2023
Residual Q-Learning: Offline and Online Policy Customization without Value Chenran Li Chen Tang Haruki Nishimura Jean-Pierre Mercat M. Tomizuka Wei Zhan OffRL 25 6 0 15 Jun 2023
R2-Diff: Denoising by diffusion as a refinement of retrieved motion for image-based motion prediction Takeru Oba Norimichi Ukita DiffM 25 1 0 15 Jun 2023
VillanDiffusion: A Unified Backdoor Attack Framework for Diffusion Models Sheng-Yen Chou Pin-Yu Chen Tsung-Yi Ho DiffM 6 52 0 12 Jun 2023
Value function estimation using conditional diffusion models for control Bogdan Mazoure Walter A. Talbott Miguel Angel Bautista R. Devon Hjelm Alexander Toshev J. Susskind DiffM 12 4 0 09 Jun 2023
Transferring Foundation Models for Generalizable Robotic Manipulation Jiange Yang Wenhui Tan Chuhao Jin Keling Yao Bei Liu Jianlong Fu Ruihua Song Gangshan Wu Limin Wang LM&Ro 47 6 0 09 Jun 2023
Instructed Diffuser with Temporal Condition Guidance for Offline Reinforcement Learning Jifeng Hu Yan Sun Sili Huang Siyuan Guo Hechang Chen Li Shen Lichao Sun Yi-Ju Chang Dacheng Tao DiffM OffRL 26 13 0 08 Jun 2023
Interpreting and Improving Diffusion Models from an Optimization Perspective Frank Permenter Chenyang Yuan DiffM 11 3 0 08 Jun 2023
Data Quality in Imitation Learning Suneel Belkhale Yuchen Cui Dorsa Sadigh 8 44 0 04 Jun 2023
Extracting Reward Functions from Diffusion Models Felipe Nuti Tim Franzmeyer João F. Henriques 17 14 0 01 Jun 2023
Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning Haoran He Chenjia Bai Kang Xu Zhuoran Yang Weinan Zhang Dong Wang Bingyan Zhao Xuelong Li DiffM OffRL 22 89 0 29 May 2023
Parallel Sampling of Diffusion Models Andy Shih Suneel Belkhale Stefano Ermon Dorsa Sadigh Nima Anari DiffM 23 49 0 25 May 2023
NAP: Neural 3D Articulation Prior Jiahui Lei Congyue Deng Bokui Shen Leonidas J. Guibas Kostas Daniilidis DiffM 14 16 0 25 May 2023
Imitating Task and Motion Planning with Visuomotor Transformers Murtaza Dalal Ajay Mandlekar Caelan Reed Garrett Ankur Handa Ruslan Salakhutdinov D. Fox 35 52 0 25 May 2023
DPOK: Reinforcement Learning for Fine-tuning Text-to-Image Diffusion Models Ying Fan Olivia Watkins Yuqing Du Hao Liu Moonkyung Ryu Craig Boutilier Pieter Abbeel Mohammad Ghavamzadeh Kangwook Lee Kimin Lee 33 134 0 25 May 2023
Training Diffusion Models with Reinforcement Learning Kevin Black Michael Janner Yilun Du Ilya Kostrikov Sergey Levine EGVM 39 313 0 22 May 2023
Policy Representation via Diffusion Probability Model for Reinforcement Learning Long Yang Zhixiong Huang Fenghao Lei Yucun Zhong Yiming Yang Cong Fang Shiting Wen Binbin Zhou Zhouchen Lin DiffM 19 39 0 22 May 2023
Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks Eley Ng Ziang Liu Monroe Kennedy DiffM 13 22 0 20 May 2023
Towards Generalist Robots: A Promising Paradigm via Generative Simulation Zhou Xian Théophile Gervet Zhenjia Xu Yi-Ling Qiao Tsun-Hsuan Wang Yian Wang LM&Ro 52 7 0 17 May 2023
OpenVR: Teleoperation for Manipulation A. George Alison Bartsch A. Farimani 28 15 0 16 May 2023
Spatial-Language Attention Policies for Efficient Robot Learning Priyam Parashar Vidhi Jain Xiaohan Zhang Jay Vakil Sam Powers Yonatan Bisk Chris Paxton LM&Ro 27 5 0 21 Apr 2023
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies Moritz Reuss M. Li Xiaogang Jia Rudolf Lioutikov DiffM 15 156 0 05 Apr 2023
Chain-of-Thought Predictive Control Zhiwei Jia Vineet Thumuluri Fangchen Liu Ling-Hao Chen Zhiao Huang H. Su LM&Ro 23 20 0 03 Apr 2023
Information Maximizing Curriculum: A Curriculum-Based Approach for Imitating Diverse Skills Denis Blessing Onur Celik Xiaogang Jia Moritz Reuss M. Li Rudolf Lioutikov Gerhard Neumann 19 0 0 27 Mar 2023
Programmatic Imitation Learning from Unlabeled and Noisy Demonstrations Jimmy Xin Linus Zheng Kia Rahmani Jiayi Wei Jarrett Holtz Işıl Dillig Joydeep Biswas 28 1 0 02 Mar 2023
ReorientDiff: Diffusion Model based Reorientation for Object Manipulation Utkarsh Aashu Mishra Yongxin Chen 13 20 0 28 Feb 2023
Diffusion Model-Augmented Behavioral Cloning Shangcheng Chen Hsiang-Chun Wang Ming-Hao Hsu Chun-Mao Lai Shao-Hua Sun DiffM 38 31 0 26 Feb 2023
Language Control Diffusion: Efficiently Scaling through Space, Time, and Tasks Edwin Zhang Yujie Lu William Wang Amy Zhang DiffM LM&Ro 24 16 0 27 Oct 2022
DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics Ivan Kapelyukh Vitalis Vosylius Edward Johns LM&Ro DiffM 105 144 0 05 Oct 2022
Planning with Diffusion for Flexible Behavior Synthesis Michael Janner Yilun Du J. Tenenbaum Sergey Levine DiffM 202 622 0 20 May 2022
Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation Heecheol Kim Y. Ohmura Y. Kuniyoshi 23 27 0 18 Mar 2022
Learning Periodic Tasks from Human Demonstrations Jingyun Yang Junwu Zhang Connor Settle Akshara Rai Rika Antonova Jeannette Bohg 104 24 0 28 Sep 2021
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation Ajay Mandlekar Danfei Xu J. Wong Soroush Nasiriany Chen Wang Rohun Kulkarni Li Fei-Fei Silvio Savarese Yuke Zhu Roberto Martín-Martín OffRL 147 469 0 06 Aug 2021