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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 / 1,494 papers shown
DemoStart: Demonstration-led auto-curriculum applied to sim-to-real with multi-fingered robots
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José Enrique Chen
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Nimrod Gileadi
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Jon Scholz
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Francesco Nori
Nicolas Heess
337
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0
10 Sep 2024
One-Shot Imitation under Mismatched Execution
IEEE International Conference on Robotics and Automation (ICRA), 2024
Kushal Kedia
Prithwish Dan
Sanjiban Choudhury
Maximus Adrian Pace
Sanjiban Choudhury
559
9
0
10 Sep 2024
Robot Utility Models: General Policies for Zero-Shot Deployment in New Environments
IEEE International Conference on Robotics and Automation (ICRA), 2024
Haritheja Etukuru
Norihito Naka
Zijin Hu
Seungjae Lee
Julian Mehu
Aaron Edsinger
Chris Paxton
Soumith Chintala
Lerrel Pinto
Nur Muhammad (Mahi) Shafiullah
LM&Ro
254
43
0
09 Sep 2024
Forward KL Regularized Preference Optimization for Aligning Diffusion Policies
AAAI Conference on Artificial Intelligence (AAAI), 2024
Zhao Shan
Chenyou Fan
Delin Qu
Jiyuan Shi
Chenjia Bai
315
7
0
09 Sep 2024
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching
Niklas Funk
Julen Urain
João Carvalho
V. Prasad
Georgia Chalvatzaki
Jan Peters
217
24
0
06 Sep 2024
Goal-Reaching Policy Learning from Non-Expert Observations via Effective Subgoal Guidance
Conference on Robot Learning (CoRL), 2024
Renming Huang
Shaochong Liu
Yunqiang Pei
Peng Wang
Guoqing Wang
Yang Yang
Hengtao Shen
OffRL
265
0
0
06 Sep 2024
View-Invariant Policy Learning via Zero-Shot Novel View Synthesis
Conference on Robot Learning (CoRL), 2024
Stephen Tian
Blake Wulfe
Kyle Sargent
Katherine Liu
Sergey Zakharov
Vitor Campagnolo Guizilini
Jiajun Wu
761
29
0
05 Sep 2024
Enhancing Sample Efficiency and Exploration in Reinforcement Learning through the Integration of Diffusion Models and Proximal Policy Optimization
Gao Tianci
Konstantin A. Neusypin
Konstantin A. Neusypin
Yang Bo
Shengren Rao
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586
2
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02 Sep 2024
Affordance-based Robot Manipulation with Flow Matching
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Michael Gienger
700
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Learning to Singulate Objects in Packed Environments using a Dexterous Hand
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Yuhai Wang
Hanyang Zhou
Daniel Seita
396
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01 Sep 2024
Diffusion Policy Policy Optimization
International Conference on Learning Representations (ICLR), 2024
Allen Z. Ren
Justin Lidard
Lars L. Ankile
Anthony Simeonov
Pulkit Agrawal
Anirudha Majumdar
Benjamin Burchfiel
Hongkai Dai
Max Simchowitz
462
131
0
01 Sep 2024
DAP: Diffusion-based Affordance Prediction for Multi-modality Storage
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Haonan Chang
Kowndinya Boyalakuntla
Yuhan Liu
Xinyu Zhang
Liam Schramm
Abdeslam Boularias
277
0
0
31 Aug 2024
Bidirectional Decoding: Improving Action Chunking via Guided Test-Time Sampling
International Conference on Learning Representations (ICLR), 2024
Yuejiang Liu
Jubayer Ibn Hamid
Annie Xie
Yoonho Lee
Maximilian Du
Chelsea Finn
OffRL
371
5
0
30 Aug 2024
FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
Conference on Robot Learning (CoRL), 2024
Li-Heng Lin
Yuchen Cui
Amber Xie
Tianyu Hua
Dorsa Sadigh
201
28
0
29 Aug 2024
MAPF-GPT: Imitation Learning for Multi-Agent Pathfinding at Scale
AAAI Conference on Artificial Intelligence (AAAI), 2024
Anton Andreychuk
Konstantin Yakovlev
Aleksandr I. Panov
A. Skrynnik
AI4CE
614
13
0
29 Aug 2024
In-Context Imitation Learning via Next-Token Prediction
IEEE International Conference on Robotics and Automation (ICRA), 2024
Letian Fu
Huang Huang
Gaurav Datta
Lawrence Yunliang Chen
William Chung-Ho Panitch
Fangchen Liu
Hui Li
Ken Goldberg
LM&Ro
228
40
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28 Aug 2024
MODULI: Unlocking Preference Generalization via Diffusion Models for Offline Multi-Objective Reinforcement Learning
Yifu Yuan
Zhenrui Zheng
Zibin Dong
Jianye Hao
OffRL
396
4
0
28 Aug 2024
Points2Plans: From Point Clouds to Long-Horizon Plans with Composable Relational Dynamics
IEEE International Conference on Robotics and Automation (ICRA), 2024
Yixuan Huang
Christopher Agia
Jimmy Wu
Tucker Hermans
Jeannette Bohg
3DPC
500
7
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27 Aug 2024
GR-MG: Leveraging Partially Annotated Data via Multi-Modal Goal Conditioned Policy
IEEE Robotics and Automation Letters (RA-L), 2024
Peiyan Li
Hongtao Wu
Yan Huang
Chilam Cheang
Liang Wang
Tao Kong
VGen
220
31
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26 Aug 2024
Re-Mix: Optimizing Data Mixtures for Large Scale Imitation Learning
Conference on Robot Learning (CoRL), 2024
Joey Hejna
Chethan Bhateja
Yichen Jian
Karl Pertsch
Dorsa Sadigh
277
40
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26 Aug 2024
One-shot Video Imitation via Parameterized Symbolic Abstraction Graphs
IEEE International Conference on Robotics and Automation (ICRA), 2024
Jianren Wang
Kangni Liu
Dingkun Guo
Xian Zhou
Christopher G Atkeson
354
2
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22 Aug 2024
Automating Deformable Gasket Assembly
Simeon Adebola
Tara Sadjadpour
Karim El-Refai
Will Panitch
Zehan Ma
...
Tianshuang Qiu
Shreya Ganti
Charlotte Le
Jaimyn Drake
Ken Goldberg
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160
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Ria Doshi
Homer Walke
Oier Mees
Sudeep Dasari
Sergey Levine
385
99
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21 Aug 2024
ACE: A Cross-Platform Visual-Exoskeletons System for Low-Cost Dexterous Teleoperation
Shiqi Yang
Minghuan Liu
Yuzhe Qin
Runyu Ding
Jialong Li
Xuxin Cheng
Ruihan Yang
Sha Yi
Xiaolong Wang
253
47
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21 Aug 2024
A Survey of Embodied Learning for Object-Centric Robotic Manipulation
Machine Intelligence Research (MIR), 2024
Ying Zheng
Lei Yao
Yuejiao Su
Yi Zhang
Yi Wang
Sicheng Zhao
Yiyi Zhang
Lap-Pui Chau
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250
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RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
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Yi Zhao
Le Chen
Jan Schneider
Quankai Gao
Arno Solin
Bernhard Scholkopf
Joni Pajarinen
Le Chen
200
6
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A Biologically Inspired Design Principle for Building Robust Robotic Systems
Xing Li
Oussama Zenkri
Adrian Pfisterer
Oliver Brock
230
0
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19 Aug 2024
Beyond Local Views: Global State Inference with Diffusion Models for Cooperative Multi-Agent Reinforcement Learning
Zhiwei Xu
Hangyu Mao
Nianmin Zhang
Xin Xin
Sudipta Singha Roy
...
Bin Zhang
Guoliang Fan
Zhumin Chen
Changwei Wang
Jiangjin Yin
DiffM
253
3
0
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Diffusion Model for Planning: A Systematic Literature Review
Toshihide Ubukata
Jialong Li
Kenji Tei
DiffM
MedIm
288
17
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16 Aug 2024
A Comparison of Imitation Learning Algorithms for Bimanual Manipulation
IEEE Robotics and Automation Letters (RA-L), 2024
Michael Drolet
Simon Stepputtis
Siva Kailas
Ajinkya Jain
Jan Peters
S. Schaal
H. B. Amor
318
18
0
13 Aug 2024
F1tenth Autonomous Racing With Offline Reinforcement Learning Methods
Prajwal Koirala
Cody Fleming
OffRL
257
1
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Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
A. N. Sivakumar
Pranay Thangeda
Yixiao Fang
M. V. Gasparino
José Cuarán
Melkior Ornik
Girish Chowdhary
141
0
0
06 Aug 2024
KOI: Accelerating Online Imitation Learning via Hybrid Key-state Guidance
Conference on Robot Learning (CoRL), 2024
Jingxian Lu
Wenke Xia
Dong Wang
Zhigang Wang
Bin Zhao
Di Hu
Xuelong Li
201
5
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06 Aug 2024
RoPotter: Toward Robotic Pottery and Deformable Object Manipulation with Structural Priors
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024
Uksang Yoo
Adam Hung
Jonathan M Francis
Jean Oh
Jeffrey Ichnowski
256
7
0
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Stimulating Imagination: Towards General-purpose "Something Something Placement"
Jianyang Wu
Jie Gu
Xiaokang Ma
Fangzhou Qiu
Chu Tang
Jingmin Chen
DiffM
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265
0
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Adaptive Planning with Generative Models under Uncertainty
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024
Pascal Jutras-Dubé
Ruqi Zhang
Aniket Bera
167
2
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Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation
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Runze Yuan
Tao Liu
Wenke Ma
Xuelong Li
237
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Jacta: A Versatile Planner for Learning Dexterous and Whole-body Manipulation
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Jan Brüdigam
Ali-Adeeb Abbas
Maks Sorokin
Kuan Fang
Brandon Hung
Maya Guru
Roland Toth
Jiuguang Wang
Sandra Hirche
Simon Le Cleac'h
219
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Theia: Distilling Diverse Vision Foundation Models for Robot Learning
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Jinghuan Shang
Karl Schmeckpeper
Brandon B. May
M. Minniti
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David Watkins
Laura Herlant
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274
48
0
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Detecting Unsafe Behavior in Neural Network Imitation Policies for Caregiving Robotics
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172
1
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HRP: Human Affordances for Robotic Pre-Training
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Shikhar Bahl
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323
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386
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QueST: Self-Supervised Skill Abstractions for Learning Continuous Control
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Haotian Xue
Albert Wilcox
Yongxin Chen
Animesh Garg
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393
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Tianming Wei
Shuiqi Cheng
Gu Zhang
Yuanpei Chen
Huazhe Xu
293
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Offline Imitation Learning Through Graph Search and Retrieval
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Pieter Abbeel
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220
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Flow as the Cross-Domain Manipulation Interface
Mengda Xu
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Yinghao Xu
Cheng Chi
Gordon Wetzstein
Manuela Veloso
Shuran Song
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320
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OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning
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Zhepeng Cen
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Hao-ming Lin
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Tingnan Zhang
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262
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The Art of Imitation: Learning Long-Horizon Manipulation Tasks from Few Demonstrations
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Tim Welschehold
Abhinav Valada
Joschka Boedecker
235
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R+X: Retrieval and Execution from Everyday Human Videos
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Norman Di Palo
Pietro Vitiello
Edward Johns
450
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17 Jul 2024
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