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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

ArXiv (abs)PDF HTML HuggingFace (5 upvotes)

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

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Title
Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots Cheng Chi Zhenjia Xu Chuer Pan Eric A. Cousineau Benjamin Burchfiel Siyuan Feng Russ Tedrake Shuran Song 708 369 0 15 Feb 2024
Towards Tight Convex Relaxations for Contact-Rich Manipulation B. P. Graesdal S. Y. C. Chia Tobia Marcucci Savva Morozov Alexandre Amice P. Parrilo Russ Tedrake 338 26 0 15 Feb 2024
THE COLOSSEUM: A Benchmark for Evaluating Generalization for Robotic Manipulation Wilbert Pumacay Ishika Singh Jiafei Duan Ranjay Krishna Jesse Thomason Dieter Fox 295 92 0 13 Feb 2024
Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following Brian Yang Huangyuan Su N. Gkanatsios Tsung-Wei Ke Ayush Jain Jeff Schneider Katerina Fragkiadaki DiffM 245 37 0 09 Feb 2024
Real-World Robot Applications of Foundation Models: A Review Kento Kawaharazuka T. Matsushima Andrew Gambardella Jiaxian Guo Chris Paxton Andy Zeng OffRL VLM LM&Ro 261 92 0 08 Feb 2024
DiffTORI: Differentiable Trajectory Optimization for Deep Reinforcement and Imitation Learning Weikang Wan Ziyu Wang Yufei Wang Zackory M. Erickson David Held 428 13 0 08 Feb 2024
AdaFlow: Imitation Learning with Variance-Adaptive Flow-Based PoliciesNeural Information Processing Systems (NeurIPS), 2024 Xixi Hu Bo Liu Xingchao Liu Qiang Liu 195 31 0 06 Feb 2024
Diffusion World Model: Future Modeling Beyond Step-by-Step Rollout for Offline Reinforcement Learning Zihan Ding Amy Zhang Yuandong Tian Qinqing Zheng OffRL 348 23 0 05 Feb 2024
DexDiffuser: Generating Dexterous Grasps with Diffusion ModelsIEEE Robotics and Automation Letters (RA-L), 2024 Zehang Weng Haofei Lu Danica Kragic Jens Lundell 310 57 0 05 Feb 2024
Contrastive Diffuser: Planning Towards High Return States via Contrastive Learning Yixiang Shan Zhengbang Zhu Ting Long Qifan Liang Yi-Ju Chang Weinan Zhang Liang Yin OffRL 249 1 0 05 Feb 2024
PoCo: Policy Composition from and for Heterogeneous Robot Learning Lirui Wang Jialiang Zhao Yilun Du Edward H. Adelson Russ Tedrake 323 52 0 04 Feb 2024
Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning Haoyi Zhu Yating Wang Di Huang Weicai Ye Wanli Ouyang Tong He SSL 3DPC 306 46 0 04 Feb 2024
Denoising Diffusion-Based Control of Nonlinear Systems Karthik Elamvazhuthi D. Gadginmath Fabio Pasqualetti DiffM AI4CE 187 2 0 03 Feb 2024
LeTO: Learning Constrained Visuomotor Policy with Differentiable Trajectory Optimization Zhengtong Xu Yu She 275 6 0 30 Jan 2024
DiffuserLite: Towards Real-time Diffusion PlanningNeural Information Processing Systems (NeurIPS), 2024 Zibin Dong Jianye Hao Yifu Yuan Fei Ni Yitian Wang Pengyi Li Yan Zheng 428 35 0 27 Jan 2024
General Flow as Foundation Affordance for Scalable Robot LearningConference on Robot Learning (CoRL), 2024 Chengbo Yuan Chuan Wen Tong Zhang Yang Gao AI4CE 307 66 0 21 Jan 2024
FMB: a Functional Manipulation Benchmark for Generalizable Robotic Learning Jianlan Luo Charles Xu Fangchen Liu Liam Tan Zipeng Lin Jeffrey Wu Pieter Abbeel Sergey Levine 156 67 0 16 Jan 2024
iPolicy: Incremental Policy Algorithms for Feedback Motion Planning Guoxiang Zhao Devesh K. Jha Yebin Wang Minghui Zhu 216 0 0 05 Jan 2024
Mobile ALOHA: Learning Bimanual Mobile Manipulation with Low-Cost Whole-Body Teleoperation Zipeng Fu Tony Zhao Chelsea Finn 348 511 0 04 Jan 2024
Any-point Trajectory Modeling for Policy Learning Chuan Wen Xingyu Lin John So Kai-xiang Chen Qi Dou Yang Gao Pieter Abbeel PINN VGen 509 168 0 28 Dec 2023
InsActor: Instruction-driven Physics-based Characters Jiawei Ren Mingyuan Zhang Cunjun Yu Xiao Ma Liang Pan Ziwei Liu VGen 238 26 0 28 Dec 2023
Diffusion Reward: Learning Rewards via Conditional Video Diffusion Tao Huang Guangqi Jiang Yanjie Ze Huazhe Xu VGen 288 39 0 21 Dec 2023
Unleashing Large-Scale Video Generative Pre-training for Visual Robot Manipulation Hongtao Wu Ya Jing Chi-Hou Cheang Guangzeng Chen Jiafeng Xu Xinghang Li Minghuan Liu Hang Li Tao Kong 446 224 0 20 Dec 2023
LHManip: A Dataset for Long-Horizon Language-Grounded Manipulation Tasks in Cluttered Tabletop Environments Federico Ceola Lorenzo Natale Niko Sünderhauf Krishan Rana LM&Ro 356 5 0 19 Dec 2023
StreamDiffusion: A Pipeline-level Solution for Real-time Interactive Generation Akio Kodaira Chenfeng Xu Toshiki Hazama Takanori Yoshimoto Kohei Ohno ... Soichi Sugano Hanying Cho Zhijian Liu Kurt Keutzer Kurt Keutzer 235 61 0 19 Dec 2023
SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Execution Zhixuan Liang Yao Mu Hengbo Ma Masayoshi Tomizuka Mingyu Ding Ping Luo 424 63 0 18 Dec 2023
Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection Xinghao Zhu Devesh K. Jha Diego Romeres Lingfeng Sun Masayoshi Tomizuka Anoop Cherian 143 11 0 17 Dec 2023
Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable ObjectsIEEE Robotics and Automation Letters (RA-L), 2023 Paul Maria Scheikl Nicolas Schreiber Christoph Haas Niklas Freymuth Gerhard Neumann Rudolf Lioutikov F. Mathis-Ullrich 431 66 0 15 Dec 2023
Proprioceptive State Estimation for Amphibious Tactile SensingIEEE Transactions on robotics (TRO), 2023 Ning Guo Xudong Han Shuqiao Zhong Zhiyuan Zhou Jian Lin Jian S. Dai Fang Wan Chaoyang Song 116 7 0 15 Dec 2023
World Models via Policy-Guided Trajectory Diffusion Marc Rigter Jun Yamada Ingmar Posner 418 32 0 13 Dec 2023
Robo360: A 3D Omnispective Multi-Material Robotic Manipulation Dataset Litian Liang Liuyu Bian Caiwei Xiao Jialin Zhang Linghao Chen Isabella Liu Fanbo Xiang Zhiao Huang Hao Su 154 5 0 09 Dec 2023
PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play Lili Chen Shikhar Bahl Deepak Pathak 184 56 0 07 Dec 2023
FoMo Rewards: Can we cast foundation models as reward functions? Ekdeep Singh Lubana Johann Brehmer P. D. Haan Taco S. Cohen OffRL LRM 208 4 0 06 Dec 2023
Diffusion Illusions: Hiding Images in Plain Sight R. Burgert Xiang Li Abe Leite Kanchana Ranasinghe Michael S. Ryoo 268 19 0 06 Dec 2023
Diffused Task-Agnostic Milestone Planner Mineui Hong Minjae Kang Songhwai Oh 274 8 0 06 Dec 2023
Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertainty Cheng-Fu Yang Haoyang Xu Te-Lin Wu Xiaofeng Gao Kai-Wei Chang Feng Gao DiffM 164 11 0 02 Dec 2023
Learning Free Terminal Time Optimal Closed-loop Control of ManipulatorsAmerican Control Conference (ACC), 2023 Wei Hu Yue Zhao E. Weinan Jiequn Han Jihao Long 276 1 0 29 Nov 2023
DiffuseBot: Breeding Soft Robots With Physics-Augmented Generative Diffusion ModelsNeural Information Processing Systems (NeurIPS), 2023 Tsun-Hsuan Wang Juntian Zheng Pingchuan Ma Yilun Du Byungchul Kim Andrew Spielberg Josh Tenenbaum Chuang Gan Daniela Rus AI4CE 153 38 0 28 Nov 2023
On Bringing Robots Home Nur Muhammad (Mahi) Shafiullah Anant Rai Haritheja Etukuru Yiqian Liu Ishan Misra Soumith Chintala Lerrel Pinto 390 128 0 27 Nov 2023
MonoNav: MAV Navigation via Monocular Depth Estimation and ReconstructionInternational Symposium on Experimental Robotics (ISER), 2023 Nathaniel Simon Anirudha Majumdar 187 9 0 23 Nov 2023
Guided Flows for Generative Modeling and Decision Making Qinqing Zheng Matt Le Neta Shaul Y. Lipman Aditya Grover Ricky T. Q. Chen 305 72 0 22 Nov 2023
Using Human Feedback to Fine-tune Diffusion Models without Any Reward ModelComputer Vision and Pattern Recognition (CVPR), 2023 Kai Yang Jian Tao Jiafei Lyu Chunjiang Ge Jiaxin Chen Qimai Li Weihan Shen Xiaolong Zhu Xiu Li EGVM 445 175 0 22 Nov 2023
Generalizable Imitation Learning Through Pre-Trained RepresentationsIEEE International Conference on Robotics and Automation (ICRA), 2023 Wei-Di Chang F. Hogan David Meger Gregory Dudek Gregory Dudek 269 3 0 15 Nov 2023
Imitation Bootstrapped Reinforcement Learning Hengyuan Hu Suvir Mirchandani Dorsa Sadigh 413 47 0 03 Nov 2023
LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill DiscoveryIEEE International Conference on Robotics and Automation (ICRA), 2023 Weikang Wan Yifeng Zhu Rutav Shah Yuke Zhu SSL LM&Ro VLM CLL 446 50 0 03 Nov 2023
On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration Kiran Doshi Yijiang Huang Stelian Coros 149 7 0 03 Nov 2023
Constrained-Context Conditional Diffusion Models for Imitation Learning Vaibhav Saxena Yotto Koga Danfei Xu 173 4 0 02 Nov 2023
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment FoldingConference on Robot Learning (CoRL), 2023 Han Xue Yutong Li Wenqiang Xu Huanyu Li Dongzhe Zheng Cewu Lu 292 24 0 02 Nov 2023
Diffusion Models for Reinforcement Learning: A Survey Zhengbang Zhu Hanye Zhao Haoran He Yichao Zhong Shenyu Zhang Haoquan Guo Tingting Chen Weinan Zhang 563 92 0 02 Nov 2023
Large Trajectory Models are Scalable Motion Predictors and Planners Q. Sun Shiduo Zhang Danjiao Ma Jingzhe Shi Derun Li Simian Luo Yu Wang Ningyi Xu Guangzhi Cao Hang Zhao 214 24 0 30 Oct 2023