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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
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation TasksIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Kaylee Burns Ajinkya Jain Keegan Go Fei Xia Michael Stark S. Schaal Karol Hausman 187 11 0 09 Apr 2024
RoboMP $^2$ : A Robotic Multimodal Perception-Planning Framework with Multimodal Large Language Models Qi Lv Haochuan Li Xiang Deng Rui Shao Michael Yu Wang Liqiang Nie LRM LM&Ro 211 4 0 07 Apr 2024
Regularized Conditional Diffusion Model for Multi-Task Preference Alignment Xudong Yu Chenjia Bai Haoran He Changhong Wang Xuelong Li 314 8 0 07 Apr 2024
JUICER: Data-Efficient Imitation Learning for Robotic AssemblyIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Lars Ankile Anthony Simeonov Idan Shenfeld Pulkit Agrawal LM&Ro 274 40 0 04 Apr 2024
A Survey of Optimization-based Task and Motion Planning: From Classical To Learning ApproachesIEEE/ASME transactions on mechatronics (TAM), 2024 Zhigen Zhao Shuo Cheng Yan Ding Ziyi Zhou Shiqi Zhang Danfei Xu Ye Zhao 475 47 0 03 Apr 2024
Semi-Supervised Unconstrained Head Pose Estimation in the Wild Huayi Zhou Fei Jiang Jin Yuan Yong Rui Hongtao Lu Kui Jia 492 1 0 03 Apr 2024
APEX: Ambidextrous Dual-Arm Robotic Manipulation Using Collision-Free Generative Diffusion ModelsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Apan Dastider Hao Fang Mingjie Lin 158 7 0 02 Apr 2024
Confidence-aware Reward Optimization for Fine-tuning Text-to-Image ModelsInternational Conference on Learning Representations (ICLR), 2024 Kyuyoung Kim Jongheon Jeong Minyong An Mohammad Ghavamzadeh Krishnamurthy Dvijotham Jinwoo Shin Kimin Lee EGVM 166 6 0 02 Apr 2024
Versatile Navigation under Partial Observability via Value-guided Diffusion Policy Gengyu Zhang Hao Tang Yan Yan 223 3 0 01 Apr 2024
InterDreamer: Zero-Shot Text to 3D Dynamic Human-Object Interaction Sirui Xu Ziyin Wang Yu Wang Liangyan Gui 270 48 0 28 Mar 2024
Human-compatible driving partners through data-regularized self-play reinforcement learning Daphne Cornelisse Eugene Vinitsky 328 11 0 28 Mar 2024
Keypoint Action Tokens Enable In-Context Imitation Learning in Robotics Norman Di Palo Edward Johns 305 64 0 28 Mar 2024
RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentation Chongkai Gao Zhengrong Xue Shuying Deng Tianhai Liang Siqi Yang Lin Shao Huazhe Xu 3DPC 181 19 0 28 Mar 2024
SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic Kashyap Chitta D. Dauner Andreas Geiger 3DGS 290 22 0 26 Mar 2024
A Robotic Skill Learning System Built Upon Diffusion Policies and Foundation Models Nils Ingelhag Jesper Munkeby Jonne van Haastregt Anastasia Varava Michael C. Welle Danica Kragic 177 10 0 25 Mar 2024
ManiPose: A Comprehensive Benchmark for Pose-aware Object Manipulation in Robotics Qiaojun Yu Ce Hao Junbo Wang Wenhai Liu Liu Liu Yao Mu Yang You Hengxu Yan Cewu Lu 156 10 0 20 Mar 2024
A Contact Model based on Denoising Diffusion to Learn Variable Impedance Control for Contact-rich Manipulation Masashi Okada Mayumi Komatsu Tadahiro Taniguchi DiffM 178 3 0 20 Mar 2024
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation Zixuan Huang Yating Lin Fan Yang Dmitry Berenson 169 11 0 19 Mar 2024
D-Cubed: Latent Diffusion Trajectory Optimisation for Dexterous Deformable Manipulation Jun Yamada Shaohong Zhong Jack Collins Ingmar Posner 194 5 0 19 Mar 2024
Policy Bifurcation in Safe Reinforcement Learning Wenjun Zou Yao Lyu Jie Li Yujie Yang Shengbo Eben Li Jingliang Duan Xianyuan Zhan Jingjing Liu Yaqin Zhang Keqiang Li 319 2 0 19 Mar 2024
Dexterous Functional Pre-Grasp Manipulation with Diffusion Policy Tianhao Wu Yunchong Gan Mingdong Wu Jingbo Cheng Yaodong Yang Yixin Zhu Hao Dong 265 4 0 19 Mar 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 502 471 0 19 Mar 2024
Bootstrapping Reinforcement Learning with Imitation for Vision-Based Agile FlightConference on Robot Learning (CoRL), 2024 Jiaxu Xing Angel Romero L. Bauersfeld Davide Scaramuzza 204 34 0 18 Mar 2024
Diffusion-Reinforcement Learning Hierarchical Motion Planning in Multi-agent Adversarial Games Zixuan Wu Sean Ye Manisha Natarajan Matthew C. Gombolay 286 11 0 16 Mar 2024
Riemannian Flow Matching Policy for Robot Motion Learning Max Braun Noémie Jaquier Leonel Rozo Tamim Asfour 226 38 0 15 Mar 2024
HumanoidBench: Simulated Humanoid Benchmark for Whole-Body Locomotion and Manipulation Carmelo Sferrazza Dun-Ming Huang Xingyu Lin Youngwoon Lee Pieter Abbeel 370 88 0 15 Mar 2024
SculptDiff: Learning Robotic Clay Sculpting from Humans with Goal Conditioned Diffusion Policy Alison Bartsch Arvind Car Charlotte Avra A. Farimani 207 9 0 15 Mar 2024
DTG : Diffusion-based Trajectory Generation for Mapless Global NavigationIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Jing Liang Amirreza Payandeh Daeun Song Xuesu Xiao Dinesh Manocha 257 20 0 14 Mar 2024
InfoCon: Concept Discovery with Generative and Discriminative InformativenessInternational Conference on Learning Representations (ICLR), 2024 Ruizhe Liu Qian Luo Yanchao Yang 301 4 0 14 Mar 2024
OPEN TEACH: A Versatile Teleoperation System for Robotic ManipulationConference on Robot Learning (CoRL), 2024 Aadhithya Iyer Zhuoran Peng Yinlong Dai Irmak Güzey Siddhant Haldar Soumith Chintala Lerrel Pinto 228 101 0 12 Mar 2024
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation Chen Wang Haochen Shi Weizhuo Wang Ruohan Zhang Fei-Fei Li Karen Liu 279 194 0 12 Mar 2024
Acquiring Diverse Skills using Curriculum Reinforcement Learning with Mixture of ExpertsInternational Conference on Machine Learning (ICML), 2024 Onur Celik Aleksandar Taranovic Gerhard Neumann 314 16 0 11 Mar 2024
Speeding up 6-DoF Grasp Sampling with Quality-DiversityIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 J. Huber Franccois Hélénon Mathilde Kappel Elie Chelly Mahdi Khoramshahi F. B. Amar Stéphane Doncieux 226 7 0 10 Mar 2024
Spatiotemporal Predictive Pre-training for Robotic Motor Control Jiange Yang Bei Liu Jianlong Fu Bocheng Pan Gangshan Wu Limin Wang 312 19 0 08 Mar 2024
Efficient Data Collection for Robotic Manipulation via Compositional Generalization Jensen Gao Annie Xie Ted Xiao Chelsea Finn Dorsa Sadigh 359 32 0 08 Mar 2024
DNAct: Diffusion Guided Multi-Task 3D Policy Learning Ge Yan Yueh-hua Wu Xiaolong Wang VGen 355 30 0 07 Mar 2024
3D Diffusion Policy: Generalizable Visuomotor Policy Learning via Simple 3D Representations Yanjie Ze Gu Zhang Kangning Zhang Chenyuan Hu Muhan Wang Huazhe Xu VGen 706 121 0 06 Mar 2024
Reconciling Reality through Simulation: A Real-to-Sim-to-Real Approach for Robust Manipulation M. Torné Anthony Simeonov Zechu Li April Chan Tao Chen Abhishek Gupta Pulkit Agrawal 253 116 0 06 Mar 2024
Hierarchical Diffusion Policy for Kinematics-Aware Multi-Task Robotic Manipulation Xiao Ma Sumit Patidar Iain Haughton Stephen James 230 100 0 06 Mar 2024
Behavior Generation with Latent Actions Seungjae Lee Yibin Wang Haritheja Etukuru H. J. Kim Mahi Shafiullah Lerrel Pinto VGen OffRL 359 120 0 05 Mar 2024
PRIME: Scaffolding Manipulation Tasks with Behavior Primitives for Data-Efficient Imitation Learning Tian Gao Soroush Nasiriany Huihan Liu Quantao Yang Yuke Zhu 366 12 0 01 Mar 2024
Pushing the Limits of Cross-Embodiment Learning for Manipulation and Navigation Jonathan Yang Catherine Glossop Arjun Bhorkar Dhruv Shah Quan Vuong Chelsea Finn Dorsa Sadigh Sergey Levine 193 68 0 29 Feb 2024
Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting Lawrence Yunliang Chen Kush Hari K. Dharmarajan Chenfeng Xu Quan Vuong Ken Goldberg 347 32 0 29 Feb 2024
MOSAIC: Modular Foundation Models for Assistive and Interactive CookingConference on Robot Learning (CoRL), 2024 Huaxiaoyue Wang Kushal Kedia Juntao Ren Rahma Abdullah Atiksh Bhardwaj ... Maximus Adrian Pace Yash Sharma Xiangwan Sun Neha Sunkara Sanjiban Choudhury 358 18 0 29 Feb 2024
Diffusion Meets DAgger: Supercharging Eye-in-hand Imitation Learning Xiaoyu Zhang Matthew Chang Pranav Kumar Saurabh Gupta DiffM OffRL 352 28 0 27 Feb 2024
Don't Start from Scratch: Behavioral Refinement via Interpolant-based Policy Diffusion Kaiqi Chen Eugene Lim Kelvin Lin Yiyang Chen Harold Soh DiffM 357 18 0 25 Feb 2024
Practice Makes Perfect: Planning to Learn Skill Parameter Policies Nishanth Kumar Tom Silver Willie McClinton Linfeng Zhao Stephen Proulx Tomás Lozano-Pérez L. Kaelbling Jennifer Barry 213 30 0 22 Feb 2024
Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations Xiaogang Jia Denis Blessing Xinkai Jiang Moritz Reuss Atalay Donat Rudolf Lioutikov Gerhard Neumann 223 42 0 22 Feb 2024
DiffusionNOCS: Managing Symmetry and Uncertainty in Sim2Real Multi-Modal Category-level Pose Estimation Takuya Ikeda Sergey Zakharov Tianyi Ko Muhammad Zubair Irshad Robert Lee Katherine Liu Rares Andrei Ambrus Koichi Nishiwaki DiffM 170 24 0 20 Feb 2024
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations Tsung-Wei Ke N. Gkanatsios Katerina Fragkiadaki VGen 316 228 0 16 Feb 2024