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
PRISM-DP: Spatial Pose-based Observations for Diffusion-Policies via Segmentation, Mesh Generation, and Pose Tracking Xiatao Sun Yinxing Chen Daniel Rakita VGen 53 0 0 29 Apr 2025
PRISM: Projection-based Reward Integration for Scene-Aware Real-to-Sim-to-Real Transfer with Few Demonstrations Haowen Sun H. Wang Chengzhong Ma Shaolong Zhang Jiawei Ye Xingyu Chen Xuguang Lan OffRL 53 1 0 29 Apr 2025
SoccerDiffusion: Toward Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings Florian Vahl Jörn Griepenburg Jan Gutsche Jasper Güldenstein Jianwei Zhang VGen 39 0 0 29 Apr 2025
NORA: A Small Open-Sourced Generalist Vision Language Action Model for Embodied Tasks Chia-Yu Hung Qi Sun Pengfei Hong Amir Zadeh Chuan Li U-Xuan Tan Navonil Majumder Soujanya Poria LM&Ro 37 1 0 28 Apr 2025
GPA-RAM: Grasp-Pretraining Augmented Robotic Attention Mamba for Spatial Task Learning Juyi Sheng Yangjun Liu Sheng Xu Zhixin Yang Mengyuan Liu 51 0 0 28 Apr 2025
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions Tomoharu Aizu Takeru Oba Yuki Kondo Norimichi Ukita DiffM 72 0 0 28 Apr 2025
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies Jialiang Zhao Naveen Kuppuswamy S. Feng Benjamin Burchfiel Edward H. Adelson 34 0 0 27 Apr 2025
STDArm: Transferring Visuomotor Policies From Static Data Training to Dynamic Robot Manipulation Yifan Duan Heng Li Yilong Wu Wenhao Yu Xinran Zhang Yedong Shen J. Ji Y. Zhang 45 0 0 26 Apr 2025
RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning Haoran Geng Feishi Wang Songlin Wei Y. Li Bangjun Wang ... Hao Dong Siyuan Huang Yue Wang Jitendra Malik Pieter Abbeel 75 3 0 26 Apr 2025
Generative AI in Embodied Systems: System-Level Analysis of Performance, Efficiency and Scalability Zishen Wan Jiayi Qian Yuhang Du Jason J. Jabbour Yilun Du Yang Katie Zhao A. Raychowdhury Tushar Krishna Vijay Janapa Reddi LM&Ro 86 0 0 26 Apr 2025
RL-Driven Data Generation for Robust Vision-Based Dexterous Grasping Atsushi Kanehira Naoki Wake Kazuhiro Sasabuchi Jun Takamatsu Katsushi Ikeuchi 42 0 0 25 Apr 2025
Instrumentation for Better Demonstrations: A Case Study Remko Proesmans Thomas Lips Francis Wyffels 24 0 0 25 Apr 2025
PIN-WM: Learning Physics-INformed World Models for Non-Prehensile Manipulation Wenxuan Li Hang Zhao Zhiyuan Yu Yu Du Qin Zou Ruizhen Hu K. Xu SSL 71 1 0 23 Apr 2025
MOSAIC: A Skill-Centric Algorithmic Framework for Long-Horizon Manipulation Planning Itamar Mishani Yorai Shaoul Maxim Likhachev 38 0 0 23 Apr 2025
Latent Diffusion Planning for Imitation Learning Amber Xie Oleh Rybkin Dorsa Sadigh Chelsea Finn 33 1 0 23 Apr 2025
Geometric Formulation of Unified Force-Impedance Control on SE(3) for Robotic Manipulators Joohwan Seo N. Prakash Soomi Lee Arvind Kruthiventy Megan Teng Jongeun Choi R. Horowitz 30 0 0 23 Apr 2025
Multimodal Perception for Goal-oriented Navigation: A Survey I-Tak Ieong Hao Tang LM&Ro LRM 29 0 0 22 Apr 2025
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks Masoud Moghani Nigel Nelson Mohamed Ghanem Andres Diaz-Pinto Kush Hari Mahdi Azizian Ken Goldberg Sean Huver Animesh Garg 32 0 0 21 Apr 2025
Automatic Generation of Aerobatic Flight in Complex Environments via Diffusion Models Yuhang Zhong Anke Zhao Tianyue Wu Tingrui Zhang Fei Gao 27 0 0 21 Apr 2025
ExFace: Expressive Facial Control for Humanoid Robots with Diffusion Transformers and Bootstrap Training Dong Zhang Jingwei Peng Yuyang Jiao Jiayuan Gu Jingyi Yu Jiahao Chen 34 0 0 20 Apr 2025
Phoenix: A Motion-based Self-Reflection Framework for Fine-grained Robotic Action Correction Wenke Xia Ruoxuan Feng Dong Wang Di Hu 32 0 0 20 Apr 2025
Modality Selection and Skill Segmentation via Cross-Modality Attention Jiawei Jiang Kei Ota Devesh K. Jha Asako Kanezaki 22 0 0 20 Apr 2025
DiffOG: Differentiable Policy Trajectory Optimization with Generalizability Zhengtong Xu Zichen Miao Qiang Qiu Zhe Zhang Yu She 53 0 0 18 Apr 2025
Imitation Learning with Precisely Labeled Human Demonstrations Yilong Song 31 0 0 18 Apr 2025
On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting Niklas Funk Changqi Chen Tim Schneider Georgia Chalvatzaki Roberto Calandra Jan Peters 23 0 0 18 Apr 2025
RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins Yao Mu Tianxing Chen Z. Chen Shijia Peng Zhiqian Lan ... Mingkun Xu Lunkai Lin Zhiqiang Xie Mingyu Ding Ping Luo 24 1 0 17 Apr 2025
ViTa-Zero: Zero-shot Visuotactile Object 6D Pose Estimation Hongyu Li James Akl Srinath Sridhar Tye Brady Taskin Padir 37 0 0 17 Apr 2025
Novel Demonstration Generation with Gaussian Splatting Enables Robust One-Shot Manipulation Sizhe Yang Wenye Yu Jia Zeng Jun Lv Kerui Ren Cewu Lu Dahua Lin Jiangmiao Pang 3DGS 48 1 0 17 Apr 2025
Crossing the Human-Robot Embodiment Gap with Sim-to-Real RL using One Human Demonstration Tyler Ga Wei Lum Olivia Y. Lee C. Karen Liu Jeannette Bohg 33 1 0 17 Apr 2025
UniPhys: Unified Planner and Controller with Diffusion for Flexible Physics-Based Character Control Y. Wu Korrawe Karunratanakul Zhengyi Luo Siyu Tang DiffM VGen AI4CE 41 0 0 17 Apr 2025
Towards Forceful Robotic Foundation Models: a Literature Survey William Xie N. Correll OffRL 56 0 0 16 Apr 2025
Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning Guanqi He Xiaofeng Guo Luyi Tang Y. Zhang M. Mousaei Jiahe Xu Junyi Geng Sebastian A. Scherer Guanya Shi 21 0 0 14 Apr 2025
Prior Does Matter: Visual Navigation via Denoising Diffusion Bridge Models Hao Ren Yiming Zeng Zetong Bi Zhaoliang Wan Junlong Huang Hui Cheng 72 1 0 14 Apr 2025
Decoupled Diffusion Sparks Adaptive Scene Generation Yunsong Zhou Naisheng Ye William Ljungbergh Tianyu Li Jiazhi Yang Zetong Yang Hongzi Zhu Christoffer Petersson Hongyang Li 36 1 0 14 Apr 2025
Efficient Task-specific Conditional Diffusion Policies: Shortcut Model Acceleration and SO(3) Optimization Haiyong Yu Yanqiong Jin Yonghao He Wei Sui 24 0 0 14 Apr 2025
HUMOTO: A 4D Dataset of Mocap Human Object Interactions Jiaxin Lu Chun-Hao Paul Huang Uttaran Bhattacharya Qixing Huang Yi Zhou 36 0 0 14 Apr 2025
REALM: Real-Time Estimates of Assistance for Learned Models in Human-Robot Interaction Michael Hagenow Julie Shah 27 0 0 12 Apr 2025
Safe Flow Matching: Robot Motion Planning with Control Barrier Functions X. Dai Dian Yu Shanshan Zhang Zewen Yang Hamid Sadeghian Sami Haddadin Sandra Hirche 37 0 0 11 Apr 2025
Diffusion Models for Robotic Manipulation: A Survey Rosa Wolf Yitian Shi Sheng Liu Rania Rayyes 51 1 0 11 Apr 2025
Leveraging GCN-based Action Recognition for Teleoperation in Daily Activity Assistance Thomas M. Kwok Jiaan Li Yue Hu 19 0 0 09 Apr 2025
MAPLE: Encoding Dexterous Robotic Manipulation Priors Learned From Egocentric Videos Alexey Gavryushin Xi Wang Robert J. S. Malate Chenyu Yang X. Jia Shubh Goel Davide Liconti René Zurbrugg Robert K. Katzschmann Marc Pollefeys 34 0 0 08 Apr 2025
Agent-Arena: A General Framework for Evaluating Control Algorithms Halid Abdulrahim Kadi K. Terzic AI4CE 24 0 0 08 Apr 2025
ViTaMIn: Learning Contact-Rich Tasks Through Robot-Free Visuo-Tactile Manipulation Interface Fangchen Liu Chuanyu Li Yihua Qin Ankit Shaw J. Xu Pieter Abbeel Rui Chen 38 1 0 08 Apr 2025
Speech-to-Trajectory: Learning Human-Like Verbal Guidance for Robot Motion Eran Bamani Eden Nissinman Rotem Atari Nevo Heimann Saadon A. Sintov 69 0 0 07 Apr 2025
SPARK-Remote: A Cost-Effective System for Remote Bimanual Robot Teleoperation Adam Imdieke Karthik Desingh 31 0 0 07 Apr 2025
Tool-as-Interface: Learning Robot Policies from Human Tool Usage through Imitation Learning Haonan Chen Cheng Zhu Yunzhu Li Katherine Driggs-Campbell 26 0 0 06 Apr 2025
Diffusion-Based Approximate MPC: Fast and Consistent Imitation of Multi-Modal Action Distributions Pau Marquez Julbe Julian Nubert Henrik Hose Sebastian Trimpe K. J. Kuchenbecker 23 0 0 06 Apr 2025
ORCA: An Open-Source, Reliable, Cost-Effective, Anthropomorphic Robotic Hand for Uninterrupted Dexterous Task Learning Clemens C. Christoph Maximilian Eberlein Filippos Katsimalis Arturo Roberti Aristotelis Sympetheros ... Davide Liconti Chenyu Yang Barnabas Gavin Cangan R. Hinchet Robert K. Katzschmann 21 2 0 05 Apr 2025
MORAL: A Multimodal Reinforcement Learning Framework for Decision Making in Autonomous Laboratories Natalie Tirabassi Sathish A. P. Kumar S. Jha Arvind Ramanathan LM&Ro OffRL 51 0 0 04 Apr 2025
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation Tan Shu Li Shen 39 0 0 04 Apr 2025