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2303.04137
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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
7 March 2023
Cheng Chi
Zhenjia Xu
S. Feng
Eric A. Cousineau
Yilun Du
Benjamin Burchfiel
Russ Tedrake
Shuran Song
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ArXiv (abs)
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HuggingFace (5 upvotes)
Papers citing
"Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
50 / 1,495 papers shown
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation
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Hanzhi Chen
Boyang Sun
Anran Zhang
Marc Pollefeys
Stefan Leutenegger
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451
31
0
10 Mar 2025
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Chengmeng Li
Junjie Wen
Yan Peng
Chaomin Shen
Feifei Feng
Yinlin Zhu
3DPC
398
49
0
10 Mar 2025
AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systems
AgiBot-World-Contributors
Qingwen Bu
Jisong Cai
Li Chen
Xiuqi Cui
...
Jiangwei Zhong
Bin Zhao
Chengyue Zhao
Jiaqi Zhao
Jianchao Zhu
LM&Ro
313
2
0
09 Mar 2025
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions
Daniel Morton
Marco Pavone
304
8
0
09 Mar 2025
GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving
Computer Vision and Pattern Recognition (CVPR), 2025
Zebin Xing
Xinsong Zhang
Yang Hu
Bo Jiang
Tong He
Qian Zhang
Xiaoxiao Long
Wei Yin
615
50
0
07 Mar 2025
BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activities
Yunfan Jiang
Ruohan Zhang
J. Wong
Chen Wang
Yanjie Ze
Hang Yin
Cem Gokmen
Shuran Song
Jiajun Wu
L. Fei-Fei
384
29
0
07 Mar 2025
Discrete Contrastive Learning for Diffusion Policies in Autonomous Driving
IEEE International Conference on Robotics and Automation (ICRA), 2025
Kalle Kujanpää
Daulet Baimukashev
Farzeen Munir
Shoaib Azam
Tomasz Piotr Kucner
Joni Pajarinen
Ville Kyrki
198
0
0
07 Mar 2025
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning
Xi Ye
Rui Heng Yang
Jun Jin
Yiming Li
Amir Rasouli
247
2
0
06 Mar 2025
VLA Model-Expert Collaboration for Bi-directional Manipulation Learning
Tian-Yu Xiang
Ao-Qun Jin
Xiao-Hu Zhou
Mei-Jiang Gui
Xiao-Liang Xie
...
Shuang-Yi Wang
Sheng-Bin Duang
Si-Cheng Wang
Zheng Lei
Z. Hou
272
4
0
06 Mar 2025
Generative Artificial Intelligence in Robotic Manipulation: A Survey
Kun Zhang
Peng Yun
Jun Cen
Junhao Cai
DiDi Zhu
...
Qifeng Chen
Jia Pan
Wei Zhang
Bo Yang
Hua Chen
674
15
0
05 Mar 2025
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction
Huang Huang
Fangchen Liu
Letian Fu
Tingfan Wu
Mustafa Mukadam
Jitendra Malik
Ken Goldberg
Pieter Abbeel
LM&Ro
VLM
445
36
0
05 Mar 2025
Curating Demonstrations using Online Experience
Annie S. Chen
Alec M. Lessing
Yuejiang Liu
Chelsea Finn
277
8
0
05 Mar 2025
SafeVLA: Towards Safety Alignment of Vision-Language-Action Model via Constrained Learning
Borong Zhang
Yuhao Zhang
Yalan Qin
Yingshan Lei
Josef Dai
Yuanpei Chen
Yaodong Yang
537
4
0
05 Mar 2025
AirExo-2: Scaling up Generalizable Robotic Imitation Learning with Low-Cost Exoskeletons
Hongjie Fang
Chenxi Wang
Yiming Wang
J. Chen
Shangning Xia
...
Xinyu Zhan
Lixin Yang
Weiming Wang
Cewu Lu
Hao-Shu Fang
529
15
0
05 Mar 2025
Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion
Piotr Koczy
Michael C. Welle
Danica Kragic
249
0
0
04 Mar 2025
Bridging VLM and KMP: Enabling Fine-grained robotic manipulation via Semantic Keypoints Representation
Junjie Zhu
Huayu Liu
Jin Wang
Bangrong Wen
Kaixiang Huang
Xiaofei Li
Haiyun Zhan
Guodong Lu
248
1
0
04 Mar 2025
Variable-Friction In-Hand Manipulation for Arbitrary Objects via Diffusion-Based Imitation Learning
IEEE International Conference on Robotics and Automation (ICRA), 2025
Qiyang Yan
Zihan Ding
Xin Zhou
Adam J. Spiers
242
2
0
04 Mar 2025
GraphGarment: Learning Garment Dynamics for Bimanual Cloth Manipulation Tasks
Wei Chen
Kelin Li
Dongmyoung Lee
Xiaoshuai Chen
Rui Zong
Petar Kormushev
AI4CE
219
4
0
04 Mar 2025
Controllable Motion Generation via Diffusion Modal Coupling
Luobin Wang
Hongzhan Yu
Chenning Yu
Sicun Gao
Henrik I. Christensen
DiffM
305
1
0
04 Mar 2025
Diverse Controllable Diffusion Policy with Signal Temporal Logic
IEEE Robotics and Automation Letters (RA-L), 2024
Yue Meng
Chuchu fan
373
11
0
04 Mar 2025
Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding
Wenxuan Song
Jiayi Chen
Pengxiang Ding
Han Zhao
Wei Zhao
Zhide Zhong
Zongyuan Ge
Jun Ma
Haoang Li
298
34
0
04 Mar 2025
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Han Xue
Jieji Ren
Wendi Chen
Gu Zhang
Yuan Fang
Ran Huang
Huazhe Xu
Cewu Lu
417
57
0
04 Mar 2025
FABG : End-to-end Imitation Learning for Embodied Affective Human-Robot Interaction
Yanzhe Zhang
Changyi Liu
Keting Fu
Wenbin Zhou
Qingdu Li
Jianwei Zhang
202
1
0
03 Mar 2025
DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models
Ziyu Wan
Lin Zhao
DiffM
433
1
0
03 Mar 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo
Jonathan M Francis
Jean Oh
Jeffrey Ichnowski
465
2
0
03 Mar 2025
Diffusion Classifier-Driven Reward for Offline Preference-based Reinforcement Learning
Teng Pang
Bingzheng Wang
Guoqiang Wu
Yilong Yin
OffRL
579
0
0
03 Mar 2025
FRMD: Fast Robot Motion Diffusion with Consistency-Distilled Movement Primitives for Smooth Action Generation
Xirui Shi
Jun Jin
DiffM
VGen
264
0
0
03 Mar 2025
TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer
Chengyi Xing
Hao Li
Yi-Lin Wei
Tian-Ao Ren
Tianyu Tu
Yuhao Lin
Elizabeth Schumann
Wei-Shi Zheng
M. Cutkosky
523
1
0
03 Mar 2025
Exo-ViHa: A Cross-Platform Exoskeleton System with Visual and Haptic Feedback for Efficient Dexterous Skill Learning
Xintao Chao
Shilong Mu
Yushan Liu
Shoujie Li
Chuqiao Lyu
Xiao-Ping Zhang
Wenbo Ding
305
1
0
03 Mar 2025
Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations
Chonlam Ho
Jianshu Hu
Jian Shu
Qi Dou
Yutong Ban
MedIm
326
1
0
03 Mar 2025
Phantom: Training Robots Without Robots Using Only Human Videos
Marion Lepert
Jiaying Fang
Jeannette Bohg
OffRL
391
44
0
02 Mar 2025
Shadow: Leveraging Segmentation Masks for Cross-Embodiment Policy Transfer
Conference on Robot Learning (CoRL), 2025
Marion Lepert
Ria Doshi
Jeannette Bohg
223
10
0
02 Mar 2025
Falcon: Fast Visuomotor Policies via Partial Denoising
Haojun Chen
Minghao Liu
Xiaojian Ma
Zailin Ma
Huimin Wu
...
Yuanpei Chen
Yifan Zhong
Mingzhi Wang
Qing Li
Yaodong Yang
VGen
480
3
0
01 Mar 2025
ProDapt: Proprioceptive Adaptation using Long-term Memory Diffusion
IEEE International Conference on Robotics and Automation (ICRA), 2025
Federico Pizarro Bejarano
Bryson Jones
Daniel Pastor Moreno
J. Bowkett
Paul Backes
Angela P. Schoellig
181
0
0
28 Feb 2025
Unified Video Action Model
Shuang Li
Yihuai Gao
Dorsa Sadigh
Shuran Song
VGen
691
67
0
28 Feb 2025
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Lujie Yang
H.J. Terry Suh
Tong Zhao
B. P. Graesdal
Tarik Kelestemur
Jiuguang Wang
Tao Pang
Russ Tedrake
401
17
0
27 Feb 2025
VDT-Auto: End-to-end Autonomous Driving with VLM-Guided Diffusion Transformers
Ziang Guo
Konstantin Gubernatorov
Selamawit Asfaw
Zakhar Yagudin
Dzmitry Tsetserukou
337
12
0
27 Feb 2025
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
Toru Lin
Kartik Sachdev
Linxi Fan
Jitendra Malik
Yuke Zhu
395
49
0
27 Feb 2025
Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
Siddhant Haldar
Lerrel Pinto
3DPC
355
26
0
27 Feb 2025
Implicit Search via Discrete Diffusion: A Study on Chess
International Conference on Learning Representations (ICLR), 2025
Jiacheng Ye
Zhenyu Wu
Lei Li
Zhiyong Wu
Xin Jiang
Zhiyu Li
Dianbo Sui
DiffM
319
14
0
27 Feb 2025
Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models
Lucy Xiaoyang Shi
Brian Ichter
Michael Equi
Liyiming Ke
Karl Pertsch
...
Adrian Li-Bell
Danny Driess
Lachy Groom
Sergey Levine
Chelsea Finn
LM&Ro
LRM
494
111
0
26 Feb 2025
Diffusion-based Planning with Learned Viability Filters
Proceedings of the ACM on Computer Graphics and Interactive Techniques (PACMCGIT), 2025
Nicholas Ioannidis
Daniele Reda
S. Cohan
M. van de Panne
258
0
0
26 Feb 2025
ObjectVLA: End-to-End Open-World Object Manipulation Without Demonstration
Minjie Zhu
Yinlin Zhu
Jinming Li
Zhongyi Zhou
Junjie Wen
Xiaoyu Liu
Yaxin Peng
Chaomin Shen
Feifei Feng
LM&Ro
378
17
0
26 Feb 2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
Zhanpeng He
Yifeng Cao
M. Ciocarlie
673
1
0
26 Feb 2025
FairGen: Controlling Sensitive Attributes for Fair Generations in Diffusion Models via Adaptive Latent Guidance
Mintong Kang
Vinayshekhar Bannihatti Kumar
Shamik Roy
Abhishek Kumar
Sopan Khosla
Balakrishnan Narayanaswamy
Rashmi Gangadharaiah
252
1
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25 Feb 2025
Enhancing Reusability of Learned Skills for Robot Manipulation via Gaze Information and Motion Bottlenecks
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Ryo Takizawa
Izumi Karino
Koki Nakagawa
Yoshiyuki Ohmura
Yasuo Kuniyoshi
391
1
0
25 Feb 2025
S4S: Solving for a Diffusion Model Solver
Eric Frankel
Sitan Chen
Haibin Zhang
Pang Wei Koh
Lillian J. Ratliff
Sewoong Oh
DiffM
356
10
0
24 Feb 2025
FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
Jason Jingzhou Liu
Yulong Li
Kenneth Shaw
Tony Tao
Ruslan Salakhutdinov
Deepak Pathak
OffRL
503
20
0
24 Feb 2025
Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approach
Xiangtong Yao
Yirui Zhou
Y. Meng
Liangyu Dong
Lin Hong
Zitao Zhang
Zhenshan Bing
Kai Huang
Fuchun Sun
Alois C. Knoll
269
3
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24 Feb 2025
BOSS: Benchmark for Observation Space Shift in Long-Horizon Task
IEEE Robotics and Automation Letters (IEEE RA-L), 2025
Yue Yang
Linfeng Zhao
Mingyu Ding
Gedas Bertasius
D. Szafir
260
2
0
24 Feb 2025
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