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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 / 1,503 papers shown
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Sanjiban Choudhury
Jeannette Bohg
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13 Jan 2025
Whole-Body Integrated Motion Planning for Aerial Manipulators
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Hongming Chen
Biyu Ye
Haoran Chen
Ximin Lyu
X. Lyu
396
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11 Jan 2025
OmniManip: Towards General Robotic Manipulation via Object-Centric Interaction Primitives as Spatial Constraints
Computer Vision and Pattern Recognition (CVPR), 2025
Mingjie Pan
Jiyao Zhang
Tianshu Wu
Yinghao Zhao
Wenlong Gao
Hao Dong
LM&Ro
304
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0
08 Jan 2025
3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing
Conference on Robot Learning (CoRL), 2024
Binghao Huang
Yixuan Wang
Xinyi Yang
Yiyue Luo
Yunzhu Li
361
90
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08 Jan 2025
Perception Stitching: Zero-Shot Perception Encoder Transfer for Visuomotor Robot Policies
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Easop Lee
Zachary I. Bell
Michael M. Zavlanos
Boyuan Chen
573
1
0
03 Jan 2025
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Nishanth Kumar
Tom Silver
Yichao Liang
Tomás Lozano-Pérez
Leslie Pack Kaelbling
Leslie Kaelbling
LM&Ro
392
6
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31 Dec 2024
FlowBotHD: History-Aware Diffuser Handling Ambiguities in Articulated Objects Manipulation
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Yishu Li
Wen Hui Leng
Yiming Fang
Ben Eisner
David Held
AI4CE
529
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0
31 Dec 2024
Embodiment-Agnostic Navigation Policy Trained with Visual Demonstrations
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Osher Azulay
A. Sintov
393
1
0
31 Dec 2024
VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks
Shanghang Zhang
Zhe Xu
Peiju Liu
Xiaopeng Yu
Yuan Li
...
Zhaoye Fei
Zhangyue Yin
Zuxuan Wu
Yu-Gang Jiang
Jiaqi Leng
LM&Ro
LRM
176
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0
24 Dec 2024
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Bowen Yang
Licheng Zhong
He Wang
Li Yi
355
16
0
23 Dec 2024
Sampling-Based Constrained Motion Planning with Products of Experts
Amirreza Razmjoo
Teng Xue
Suhan Shetty
Sylvain Calinon
427
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0
23 Dec 2024
Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulation
International Conference on Learning Representations (ICLR), 2024
Yang Tian
Sizhe Yang
Jia Zeng
P. Wang
Dahua Lin
Hao Dong
Jiangmiao Pang
415
109
0
19 Dec 2024
Policy Decorator: Model-Agnostic Online Refinement for Large Policy Model
International Conference on Learning Representations (ICLR), 2024
Xiu Yuan
Tongzhou Mu
Stone Tao
Yunhao Fang
Mengke Zhang
H. Su
OffRL
475
40
0
18 Dec 2024
What Matters in Building Vision-Language-Action Models for Generalist Robots
Xinghang Li
Peiyan Li
Minghuan Liu
Dong Wang
Jirong Liu
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Hanbo Zhang
Huaping Liu
Tao Kong
Hanbo Zhang
Huaping Liu
LM&Ro
601
98
0
18 Dec 2024
RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulation
Kun Wu
Chengkai Hou
Jiaming Liu
Zhengping Che
Xiaozhu Ju
...
Zhenyu Wang
Pengju An
Siyuan Qian
Shanghang Zhang
Jian Tang
LM&Ro
658
123
0
18 Dec 2024
Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning
International Conference on Learning Representations (ICLR), 2024
Moritz Reuss
Jyothish Pari
Pulkit Agrawal
Rudolf Lioutikov
DiffM
MoE
352
39
0
17 Dec 2024
Robust Contact-rich Manipulation through Implicit Motor Adaptation
The international journal of robotics research (IJRR), 2024
Teng Xue
Amirreza Razmjoo
Suhan Shetty
Sylvain Calinon
540
2
0
16 Dec 2024
Fast and Robust Visuomotor Riemannian Flow Matching Policy
IEEE Transactions on robotics (IEEE Trans. Robot.), 2024
Haoran Ding
Noémie Jaquier
Jan Peters
Leonel Rozo
593
16
0
14 Dec 2024
RLDG: Robotic Generalist Policy Distillation via Reinforcement Learning
Charles Xu
Qiyang Li
Jianlan Luo
Sergey Levine
OffRL
367
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13 Dec 2024
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Conference on Robot Learning (CoRL), 2024
Jimmy Wu
William Chong
Robert Holmberg
Aaditya Prasad
Yihuai Gao
O. Khatib
Shuran Song
Szymon Rusinkiewicz
Jeannette Bohg
405
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11 Dec 2024
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Feng Yan
Fanfan Liu
Liming Zheng
Yufeng Zhong
Yiyang Huang
Zechao Guan
Chengjian Feng
Lin Ma
430
12
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10 Dec 2024
Policy Agnostic RL: Offline RL and Online RL Fine-Tuning of Any Class and Backbone
Max Sobol Mark
Tian Gao
Georgia Gabriela Sampaio
Mohan Kumar Srirama
Archit Sharma
Chelsea Finn
Aviral Kumar
OffRL
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495
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09 Dec 2024
ManiSkill-HAB: A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks
International Conference on Learning Representations (ICLR), 2024
Arth Shukla
Stone Tao
Hao Su
574
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Jintao Lu
He Zhang
Yuting Ye
Takaaki Shiratori
Sebastian Starke
Taku Komura
394
9
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Neural Information Processing Systems (NeurIPS), 2024
C. Jiang
Yijing Bai
Andre Cornman
Christopher Davis
Xiukun Huang
...
Carlos Fuertes
Chang Yuan
Mingxing Tan
Yin Zhou
Dragomir Anguelov
338
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Minjie Zhu
Yinlin Zhu
Zhibin Tang
Jinming Li
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Xiaoyu Liu
Chaomin Shen
Yaxin Peng
Feifei Feng
519
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Planning-Guided Diffusion Policy Learning for Generalizable Contact-Rich Bimanual Manipulation
Xuanlin Li
Tong Zhao
Xinghao Zhu
Jiuguang Wang
Tao Pang
Kuan Fang
445
9
0
03 Dec 2024
Robot Learning with Super-Linear Scaling
M. Torné
Arhan Jain
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Vidaaranya Macha
Lars L. Ankile
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Pulkit Agrawal
Abhishek Gupta
OffRL
LM&Ro
364
12
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RoboHanger: Learning Generalizable Robotic Hanger Insertion for Diverse Garments
IEEE Robotics and Automation Letters (RA-L), 2024
Yuxing Chen
Songlin Wei
Bowen Xiao
Jiangran Lyu
Jiayi Chen
Feng Zhu
Hongan Wang
834
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CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
Qixiu Li
Yaobo Liang
Zeyu Wang
Lin Luo
Xi Chen
...
Jianmin Bao
Dong Chen
Yuanchun Shi
Jiaolong Yang
B. Guo
LM&Ro
397
256
0
29 Nov 2024
RoboMatrix: A Skill-centric Hierarchical Framework for Scalable Robot Task Planning and Execution in Open-World
Weixin Mao
Weiheng Zhong
Zhou Jiang
Dong Fang
Zhongyue Zhang
...
Fan Jia
Tiancai Wang
Haoqiang Fan
Osamu Yoshie
Osamu Yoshie
669
25
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Lift3D Foundation Policy: Lifting 2D Large-Scale Pretrained Models for Robust 3D Robotic Manipulation
Yueru Jia
Jiaming Liu
Sixiang Chen
Chenyang Gu
Zihan Wang
...
Lily Lee
Pengwei Wang
Zhongyuan Wang
Renrui Zhang
Shanghang Zhang
471
42
0
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Unpacking the Individual Components of Diffusion Policy
Xiu Yuan
386
1
0
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G3Flow: Generative 3D Semantic Flow for Pose-aware and Generalizable Object Manipulation
Computer Vision and Pattern Recognition (CVPR), 2024
Tianxing Chen
Yao Mu
Zhixuan Liang
Z. Chen
Shijia Peng
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Mingkun Xu
R. Hu
Han Zhang
Xuelong Li
Ping Luo
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669
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Xiang Chen
Yu Tian
Yueting Zhuang
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Luhui Hu
458
3
0
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Inference-Time Policy Steering through Human Interactions
IEEE International Conference on Robotics and Automation (ICRA), 2024
Yanwei Wang
Lirui Wang
Yilun Du
Balakumar Sundaralingam
Xuning Yang
Yu-Wei Chao
Claudia Pérez-DÁrpino
Dieter Fox
Julie Shah
VGen
553
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Aim My Robot: Precision Local Navigation to Any Object
IEEE Robotics and Automation Letters (RA-L), 2024
Xiangyun Meng
Xuning Yang
Sanghun Jung
F. Ramos
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Sanjoy Paul
Dieter Fox
478
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Reward Fine-Tuning Two-Step Diffusion Models via Learning Differentiable Latent-Space Surrogate Reward
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Yuesong Nan
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Gengdai Liu
EGVM
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Shaoyu Chen
Haoran Yin
Bo Jiang
Cheng Wang
...
Xinbang Zhang
Xiangyu Li
Y. Zhang
Qian Zhang
Xinggang Wang
721
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IEEE Robotics and Automation Letters (RA-L), 2024
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547
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319
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Bimanual Dexterity for Complex Tasks
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Ray Liu
Haoyu Xiong
Russell Mendonca
Deepak Pathak
320
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Ruixiang Wang
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Hongrui Zhu
Ruichen Deng
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418
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454
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268
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VidMan: Exploiting Implicit Dynamics from Video Diffusion Model for Effective Robot Manipulation
Neural Information Processing Systems (NeurIPS), 2024
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Junfan Lin
Yinlin Zhu
Jiawei Han
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366
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266
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QuadWBG: Generalizable Quadrupedal Whole-Body Grasping
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Javokhirbek Rajabov
Chaoyi Xu
Yiming Zheng
He Wang
501
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Grounding Video Models to Actions through Goal Conditioned Exploration
International Conference on Learning Representations (ICLR), 2024
Yunhao Luo
Yilun Du
LM&Ro
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574
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529
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07 Nov 2024
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