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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

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Title
An Alignment-Based Approach to Learning Motions from DemonstrationsIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Alex Cuellar Christopher K. Fourie Julie A. Shah 93 0 0 19 Nov 2025
In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data Xiongyi Cai Ri-Zhao Qiu Geng Chen Lai Wei Isabella Liu Tianshu Huang Xuxin Cheng Xiaolong Wang EgoV 313 1 0 19 Nov 2025
UltraDP: Generalizable Carotid Ultrasound Scanning with Force-Aware Diffusion PolicyIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2025 Ruoqu Chen Xiangjie Yan Kangchen Lv Gao Huang Zheng Li Xiang Li MedIm 328 0 0 19 Nov 2025
IPR-1: Interactive Physical Reasoner Mingyu Zhang Lifeng Zhuo Tianxi Tan Guocan Xie Xian Nie ... Renjie Zhao Zizhu He Z. Wang Jiting Cai Yong-Lu Li PINN LRM AI4CE 326 0 0 19 Nov 2025
Theoretical Closed-loop Stability Bounds for Dynamical System Coupled with Diffusion Policies Gabriel Lauzier Alexandre Girard François Ferland 64 0 0 19 Nov 2025
HMC: Learning Heterogeneous Meta-Control for Contact-Rich Loco-Manipulation Lai Wei Xuanbin Peng Ri-Zhao Qiu Tianshu Huang Xuxin Cheng Xiaolong Wang 56 2 0 18 Nov 2025
Coffee: Controllable Diffusion Fine-tuning Ziyao Zeng Jingcheng Ni Ruyi Liu Alex Wong DiffM 145 0 0 18 Nov 2025
Structured Imitation Learning of Interactive Policies through Inverse Games Max Muchen Sun Todd Murphey 44 0 0 17 Nov 2025
Uni-Hand: Universal Hand Motion Forecasting in Egocentric Views Junyi Ma Wentao Bao Jingyi Xu Guanzhong Sun Yu Zheng Erhang Zhang Xieyuanli Chen Hesheng Wang EgoV 351 0 0 17 Nov 2025
DiffuDepGrasp: Diffusion-based Depth Noise Modeling Empowers Sim2Real Robotic Grasping Yingting Zhou Wenbo Cui Weiheng Liu Guixing Chen Haoran Li Dongbin Zhao 116 0 0 17 Nov 2025
EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulation Jonas Bode Raphael Memmesheimer Sven Behnke 120 0 0 17 Nov 2025
DiffFP: Learning Behaviors from Scratch via Diffusion-based Fictitious Play Akash Karthikeyan Yash Vardhan Pant 104 0 0 17 Nov 2025
Decoupled Action Head: Confining Task Knowledge to Conditioning Layers Jian Zhou Sihao Lin Shuai Fu Qi Wu OffRL 76 0 0 15 Nov 2025
MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy Saida Liu Nikolay Atanasov Shumon Koga 137 0 0 14 Nov 2025
ViPRA: Video Prediction for Robot Actions Sandeep Routray Hengkai Pan Unnat Jain Shikhar Bahl Deepak Pathak 202 0 0 11 Nov 2025
Generative AI Meets 6G and Beyond: Diffusion Models for Semantic Communications Hai-Long Qin Jincheng Dai Guo Lu Shuo Shao Sixian Wang Tongda Xu Wenjun Zhang Ping Zhang Khaled B. Letaief DiffM VLM 376 0 0 11 Nov 2025
SeFA-Policy: Fast and Accurate Visuomotor Policy Learning with Selective Flow Alignment Rong Xue Jiageng Mao Mingtong Zhang Y. Wang 176 0 0 11 Nov 2025
Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot CollaborationAnnual Review of Control Robotics and Autonomous Systems (RCRAS), 2025 Marta Lagomarsino Elena Merlo Andrea Pupa Timo Birr F. Krebs Cristian Secchi Tamim Asfour Arash Ajoudani 92 0 0 11 Nov 2025
HardFlow: Hard-Constrained Sampling for Flow-Matching Models via Trajectory Optimization Zeyang Li Kaveh Alim Navid Azizan 264 0 0 11 Nov 2025
Unified Humanoid Fall-Safety Policy from a Few Demonstrations Zhengjie Xu Ye Li Kwan-yee Lin Stella X. Yu 91 1 0 10 Nov 2025
From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies Ralf Romer Julian Balletshofer Jakob Thumm Marco Pavone Angela P. Schoellig Matthias Althoff 122 0 0 09 Nov 2025
Gentle Manipulation Policy Learning via Demonstrations from VLM Planned Atomic Skills Jiayu Zhou Qiwei Wu Jian Li Z. Chen Xiaogang Xiong Renjing Xu OffRL LM&Ro 424 0 0 08 Nov 2025
ViTaMIn-B: A Reliable and Efficient Visuo-Tactile Bimanual Manipulation Interface Chuanyu Li Chaoyi Liu Daotan Wang Shuyu Zhang Lusong Li Zecui Zeng Fangchen Liu Jing Xu Rui Chen 77 0 0 08 Nov 2025
10 Open Challenges Steering the Future of Vision-Language-Action Models Soujanya Poria Navonil Majumder Chia-Yu Hung Amir Ali Bagherzadeh Chuan Li Kenneth Kwok Z. Wang Cheston Tan Jiajun Wu David Hsu LM&Ro VLM 283 0 0 08 Nov 2025
Decomposed Object Manipulation via Dual-Actor Policy Bin Fan Jianjian Jiang Zhuohao Li Yixiang He Xiaoming Wu Yihan Yang Shengbang Liu Weishi Zheng 93 0 0 07 Nov 2025
Multi-agent Coordination via Flow Matching Dongsu Lee Daehee Lee Amy Zhang 99 0 0 07 Nov 2025
TwinVLA: Data-Efficient Bimanual Manipulation with Twin Single-Arm Vision-Language-Action Models Hokyun Im Euijin Jeong Jianlong Fu Andrey Kolobov Youngwoon Lee 60 0 0 07 Nov 2025
EveryDayVLA: A Vision-Language-Action Model for Affordable Robotic Manipulation Samarth Chopra Alex McMoil Ben Carnovale Evan Sokolson Rajkumar Kubendran Samuel Dickerson 74 0 0 07 Nov 2025
Let Me Show You: Learning by Retrieving from Egocentric Video for Robotic Manipulation Yichen Zhu Feifei Feng 92 1 0 07 Nov 2025
MoE-DP: An MoE-Enhanced Diffusion Policy for Robust Long-Horizon Robotic Manipulation with Skill Decomposition and Failure Recovery Baiye Cheng Tianhai Liang Suning Huang Maanping Shao Feihong Zhang Botian Xu Zhengrong Xue Huazhe Xu 207 0 0 07 Nov 2025
SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning T. Huang Armin Lederer Dai-Jie Wu X. Dai Sihua Zhang Stefan Sosnowski Shao-Hua Sun Sandra Hirche 137 0 0 07 Nov 2025
VLM-driven Skill Selection for Robotic Assembly Tasks Jeong-Jung Kim Doo-Yeol Koh Chang-Hyun Kim 56 0 0 07 Nov 2025
X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations Maximus Adrian Pace Prithwish Dan Chuanruo Ning Atiksh Bhardwaj Audrey Du Edward Weiyi Duan Wei-Chiu Ma Kushal Kedia VGen 211 0 0 06 Nov 2025
Evo-1: Lightweight Vision-Language-Action Model with Preserved Semantic Alignment Tao Lin Yilei Zhong Yuxin Du Jingjing Zhang Jiting Liu ... Yanwen Zou Lixing Zou Zhaoye Zhou Gen Li Bo Zhao VLM 130 3 0 06 Nov 2025
Unified Multimodal Diffusion Forcing for Forceful Manipulation Zixuan Huang Huaidian Hou Dmitry Berenson DiffM 77 0 0 06 Nov 2025
Temporal Action Selection for Action Chunking Yueyang Weng Xiaopeng Zhang Yongjin Mu Yingcong Zhu Yanjie Li Qi Liu 112 0 0 06 Nov 2025
Real-to-Sim Robot Policy Evaluation with Gaussian Splatting Simulation of Soft-Body Interactions Kaifeng Zhang Shuo Sha Hanxiao Jiang M. Loper Hyunjong Song Guangyan Cai Zhuo Xu Xiaochen Hu Changxi Zheng Yunzhu Li 235 2 0 06 Nov 2025
Learning-based Cooperative Robotic Paper Wrapping: A Unified Control Policy with Residual Force Control Rewida Ali C. C. Beltran-Hernandez Weiwei Wan Kensuke Harada OffRL 72 0 0 05 Nov 2025
Scaling Multi-Agent Environment Co-Design with Diffusion Models Hao Xiang Li Michael Amir Amanda Prorok 228 0 0 05 Nov 2025
GUIDES: Guidance Using Instructor-Distilled Embeddings for Pre-trained Robot Policy Enhancement Minquan Gao Xinyi Li Qing Yan Xiaojian Sun Xiaopan Zhang Chien-Ming Huang Jiachen Li 168 0 0 05 Nov 2025
WorldPlanner: Monte Carlo Tree Search and MPC with Action-Conditioned Visual World Models Rooholla Khorrambakht Joaquim Ortiz de Haro Joseph Amigo Omar Mostafa Daniel Dugas Franziska Meier Ludovic Righetti VGen 216 0 0 04 Nov 2025
XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations Shichao Fan K. Wu Zhengping Che X. Wang Di Wu ... M. M. Li Qingjie Liu Shanghang Zhang Min Wan Yong Dai 212 1 0 04 Nov 2025
LACY: A Vision-Language Model-based Language-Action Cycle for Self-Improving Robotic Manipulation Youngjin Hong Houjian Yu Mingen Li Changhyun Choi LM&Ro 193 0 0 04 Nov 2025
TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System Yanjie Ze Siheng Zhao Weizhuo Wang Angjoo Kanazawa Rocky Duan Pieter Abbeel Guanya Shi Jiajun Wu Changliu Liu 86 4 0 04 Nov 2025
Dexterous Robotic Piano Playing at Scale Le Chen Yi Zhao Jan Schneider Quankai Gao Simon Guist Cheng Qian Juho Kannala Bernhard Schölkopf Joni Pajarinen Dieter Büchler 140 0 0 04 Nov 2025
Embodiment Transfer Learning for Vision-Language-Action Models Chengmeng Li Yaxin Peng 92 0 0 03 Nov 2025
PixelVLA: Advancing Pixel-level Understanding in Vision-Language-Action Model Wenqi Liang Gan Sun Yao He Jiahua Dong Suyan Dai Ivan Laptev Salman Khan Yang Cong LM&Ro 3DV VLM 166 0 0 03 Nov 2025
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping Liudi Yang Yang Bai Yuhao Wang Ibrahim Alsarraj Gitta Kutyniok Z. Wang Ke Wu 121 0 0 03 Nov 2025
Floor Plan-Guided Visual Navigation Incorporating Depth and Directional Cues Wei Huang Jiaxin Li Zang Wan Huijun Di Wei Liang Zhu Yang 209 0 0 03 Nov 2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation Zihao He Bo Ai Tongzhou Mu Yulin Liu Weikang Wan Jiawei Fu Yilun Du Henrik I. Christensen H. Su 166 1 0 03 Nov 2025