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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
Re-assign community
ArXiv (abs)
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HuggingFace (5 upvotes)
Papers citing
"Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
50 / 1,500 papers shown
iManip: Skill-Incremental Learning for Robotic Manipulation
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Wei-Shi Zheng
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274
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Qiayuan Liao
Ding Jin
Menglong Guo
Koushil Sreenath
Xingyu Lin
Pieter Abbeel
239
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10 Mar 2025
Denoising Hamiltonian Network for Physical Reasoning
Congyue Deng
Brandon Yushan Feng
Cecilia Garraffo
Alan Garbarz
Robin Walters
William T. Freeman
Leonidas Guibas
Kaiming He
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244
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10 Mar 2025
VidBot: Learning Generalizable 3D Actions from In-the-Wild 2D Human Videos for Zero-Shot Robotic Manipulation
Computer Vision and Pattern Recognition (CVPR), 2025
Hanzhi Chen
Boyang Sun
Anran Zhang
Marc Pollefeys
Stefan Leutenegger
LM&Ro
454
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10 Mar 2025
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Junjie Wen
Yan Peng
Chaomin Shen
Feifei Feng
Yinlin Zhu
3DPC
406
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0
10 Mar 2025
How to Train Your Robots? The Impact of Demonstration Modality on Imitation Learning
IEEE International Conference on Robotics and Automation (ICRA), 2025
Haozhuo Li
Yuchen Cui
Dorsa Sadigh
317
13
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
324
2
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09 Mar 2025
Safe, Task-Consistent Manipulation with Operational Space Control Barrier Functions
Daniel Morton
Marco Pavone
354
10
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
688
65
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
203
1
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
469
33
0
07 Mar 2025
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Xi Ye
Rui Heng Yang
Jun Jin
Yiming Li
Amir Rasouli
266
3
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
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Shuang-Yi Wang
Sheng-Bin Duang
Si-Cheng Wang
Zheng Lei
Z. Hou
279
4
0
06 Mar 2025
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Huang Huang
Fangchen Liu
Letian Fu
Tingfan Wu
Mustafa Mukadam
Jitendra Malik
Ken Goldberg
Pieter Abbeel
LM&Ro
VLM
464
39
0
05 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
718
16
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Borong Zhang
Yuhao Zhang
Yalan Qin
Yingshan Lei
Josef Dai
Yuanpei Chen
Yaodong Yang
557
4
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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
537
16
0
05 Mar 2025
Curating Demonstrations using Online Experience
Annie S. Chen
Alec M. Lessing
Yuejiang Liu
Chelsea Finn
298
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Controllable Motion Generation via Diffusion Modal Coupling
Luobin Wang
Hongzhan Yu
Chenning Yu
Sicun Gao
Henrik I. Christensen
DiffM
308
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
407
12
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
436
78
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
225
4
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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
279
1
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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
256
2
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04 Mar 2025
Learning Dexterous In-Hand Manipulation with Multifingered Hands via Visuomotor Diffusion
Piotr Koczy
Michael C. Welle
Danica Kragic
258
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PD-VLA: Accelerating Vision-Language-Action Model Integrated with Action Chunking via Parallel Decoding
Wenxuan Song
Jiayi Chen
Pengxiang Ding
Han Zhao
Wei Zhao
...
Jun Ma
Haoang Li
Jun Ma
Lujia Wang
Haoang Li
324
38
0
04 Mar 2025
KineSoft: Learning Proprioceptive Manipulation Policies with Soft Robot Hands
Uksang Yoo
Jonathan M Francis
Jean Oh
Jeffrey Ichnowski
508
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Diffusion Stabilizer Policy for Automated Surgical Robot Manipulations
Chonlam Ho
Jianshu Hu
Jian Shu
Qi Dou
Yutong Ban
MedIm
358
1
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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
592
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
312
1
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03 Mar 2025
FRMD: Fast Robot Motion Diffusion with Consistency-Distilled Movement Primitives for Smooth Action Generation
Xirui Shi
Jun Jin
DiffM
VGen
352
0
0
03 Mar 2025
DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Models
Ziyu Wan
Lin Zhao
DiffM
443
1
0
03 Mar 2025
Diffusion Classifier-Driven Reward for Offline Preference-based Reinforcement Learning
Teng Pang
Bingzheng Wang
Guoqiang Wu
Yilong Yin
OffRL
674
0
0
03 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
217
1
0
03 Mar 2025
Phantom: Training Robots Without Robots Using Only Human Videos
Marion Lepert
Jiaying Fang
Jeannette Bohg
OffRL
404
52
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
261
11
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
492
5
0
01 Mar 2025
Unified Video Action Model
Shuang Li
Yihuai Gao
Dorsa Sadigh
Shuran Song
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711
85
0
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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
190
0
0
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Point Policy: Unifying Observations and Actions with Key Points for Robot Manipulation
Siddhant Haldar
Lerrel Pinto
3DPC
358
31
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
411
54
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
352
13
0
27 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
428
19
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
330
14
0
27 Feb 2025
Diffusion-based Planning with Learned Viability Filters
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Nicholas Ioannidis
Daniele Reda
S. Cohan
M. van de Panne
272
1
0
26 Feb 2025
Uncertainty Comes for Free: Human-in-the-Loop Policies with Diffusion Models
Zhanpeng He
Yifeng Cao
M. Ciocarlie
689
1
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
381
19
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Hi Robot: Open-Ended Instruction Following with Hierarchical Vision-Language-Action Models
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Brian Ichter
Michael Equi
Liyiming Ke
Karl Pertsch
...
Adrian Li-Bell
Danny Driess
Lachy Groom
Sergey Levine
Chelsea Finn
LM&Ro
LRM
509
125
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26 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
414
1
0
25 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
267
1
0
25 Feb 2025
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