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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
MonoNav: MAV Navigation via Monocular Depth Estimation and Reconstruction
International Symposium on Experimental Robotics (ISER), 2023
Nathaniel Simon
Anirudha Majumdar
199
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
317
72
0
22 Nov 2023
Using Human Feedback to Fine-tune Diffusion Models without Any Reward Model
Computer 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
485
184
0
22 Nov 2023
Generalizable Imitation Learning Through Pre-Trained Representations
IEEE International Conference on Robotics and Automation (ICRA), 2023
Wei-Di Chang
F. Hogan
David Meger
Gregory Dudek
Gregory Dudek
329
3
0
15 Nov 2023
Imitation Bootstrapped Reinforcement Learning
Hengyuan Hu
Suvir Mirchandani
Dorsa Sadigh
477
47
0
03 Nov 2023
LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery
IEEE International Conference on Robotics and Automation (ICRA), 2023
Weikang Wan
Yifeng Zhu
Rutav Shah
Yuke Zhu
SSL
LM&Ro
VLM
CLL
486
51
0
03 Nov 2023
On Hand-Held Grippers and the Morphological Gap in Human Manipulation Demonstration
Kiran Doshi
Yijiang Huang
Stelian Coros
153
7
0
03 Nov 2023
Constrained-Context Conditional Diffusion Models for Imitation Learning
Vaibhav Saxena
Yotto Koga
Danfei Xu
185
4
0
02 Nov 2023
UniFolding: Towards Sample-efficient, Scalable, and Generalizable Robotic Garment Folding
Conference on Robot Learning (CoRL), 2023
Han Xue
Yutong Li
Wenqiang Xu
Huanyu Li
Dongzhe Zheng
Cewu Lu
304
26
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
615
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
248
24
0
30 Oct 2023
Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Plans
Neural Information Processing Systems (NeurIPS), 2023
Kyowoon Lee
Seongun Kim
Jaesik Choi
DiffM
263
19
0
30 Oct 2023
Free from Bellman Completeness: Trajectory Stitching via Model-based Return-conditioned Supervised Learning
International Conference on Learning Representations (ICLR), 2023
Zhaoyi Zhou
Chuning Zhu
Runlong Zhou
Qiwen Cui
Abhishek Gupta
S. S. Du
OffRL
216
10
0
30 Oct 2023
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
Conference on Robot Learning (CoRL), 2023
Ajay Mandlekar
Soroush Nasiriany
Bowen Wen
Iretiayo Akinola
Yashraj S. Narang
Linxi Fan
Yuke Zhu
Dieter Fox
LM&Ro
299
228
0
26 Oct 2023
MMP++: Motion Manifold Primitives with Parametric Curve Models
IEEE Transactions on robotics (TRO), 2023
Yonghyeon Lee
265
6
0
26 Oct 2023
Learning Generalizable Manipulation Policies with Object-Centric 3D Representations
Conference on Robot Learning (CoRL), 2023
Yifeng Zhu
Zhenyu Jiang
Peter Stone
Yuke Zhu
3DPC
254
65
0
22 Oct 2023
Learning to Discern: Imitating Heterogeneous Human Demonstrations with Preference and Representation Learning
Conference on Robot Learning (CoRL), 2023
Sachit Kuhar
Shuo Cheng
Shivang Chopra
Matthew Bronars
Danfei Xu
381
14
0
22 Oct 2023
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Conference on Robot Learning (CoRL), 2023
Zidan Wang
Takeru Oba
Takuma Yoneda
Rui Shen
Matthew R. Walter
Bradly C. Stadie
DiffM
252
14
0
21 Oct 2023
Plan-Guided Reinforcement Learning for Whole-Body Manipulation
Mengchao Zhang
Jose Barreiros
Aykut Özgün Önol
256
7
0
18 Oct 2023
Butterfly Effects of SGD Noise: Error Amplification in Behavior Cloning and Autoregression
International Conference on Learning Representations (ICLR), 2023
Adam Block
Dylan J. Foster
Akshay Krishnamurthy
Max Simchowitz
Cyril Zhang
251
10
0
17 Oct 2023
Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models
International Conference on Learning Representations (ICLR), 2023
Kevin Black
Mitsuhiko Nakamoto
P. Atreya
Homer Walke
Chelsea Finn
Aviral Kumar
Sergey Levine
DiffM
LM&Ro
384
235
0
16 Oct 2023
Evaluating Robustness of Visual Representations for Object Assembly Task Requiring Spatio-Geometrical Reasoning
Chahyon Ku
Carl Winge
Ryan Diaz
Wentao Yuan
Karthik Desingh
287
4
0
15 Oct 2023
Adaptive Online Replanning with Diffusion Models
Siyuan Zhou
Yilun Du
Shun Zhang
Mengdi Xu
Yikang Shen
Wei Xiao
Dit-Yan Yeung
Chuang Gan
270
32
0
14 Oct 2023
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models
Utkarsh Aashu Mishra
Shangjie Xue
Yongxin Chen
Danfei Xu
LRM
291
97
0
13 Oct 2023
Compositional Abilities Emerge Multiplicatively: Exploring Diffusion Models on a Synthetic Task
Neural Information Processing Systems (NeurIPS), 2023
Maya Okawa
Ekdeep Singh Lubana
Robert P. Dick
Hidenori Tanaka
CoGe
DiffM
497
82
0
13 Oct 2023
Learning to Act from Actionless Videos through Dense Correspondences
International Conference on Learning Representations (ICLR), 2023
Po-Chen Ko
Jiayuan Mao
Yilun Du
Shao-Hua Sun
Josh Tenenbaum
303
150
0
12 Oct 2023
Interpretable Diffusion via Information Decomposition
International Conference on Learning Representations (ICLR), 2023
Xianghao Kong
Ollie Liu
Han Li
Dani Yogatama
Greg Ver Steeg
422
31
0
12 Oct 2023
NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration
IEEE International Conference on Robotics and Automation (ICRA), 2023
A. Sridhar
Dhruv Shah
Catherine Glossop
Sergey Levine
299
248
0
11 Oct 2023
DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots
IEEE International Conference on Robotics and Automation (ICRA), 2023
Jianwei Liu
Jeffrey Li
Dimitrios Kanoulas
231
40
0
11 Oct 2023
Imitation Learning from Purified Demonstration
International Conference on Machine Learning (ICML), 2023
Yunke Wang
Minjing Dong
Bo Du
Chang Xu
189
1
0
11 Oct 2023
Boosting Continuous Control with Consistency Policy
Adaptive Agents and Multi-Agent Systems (AAMAS), 2023
Yuhui Chen
Haoran Li
Dongbin Zhao
OffRL
294
39
0
10 Oct 2023
Memory-Consistent Neural Networks for Imitation Learning
International Conference on Learning Representations (ICLR), 2023
Kaustubh Sridhar
Souradeep Dutta
Dinesh Jayaraman
James Weimer
Insup Lee
302
15
0
09 Oct 2023
Toward a Plug-and-Play Vision-Based Grasping Module for Robotics
Amitayush Thakur
J. Huber
Yeming Wen
Stéphane Doncieux
243
5
0
06 Oct 2023
Aligning Text-to-Image Diffusion Models with Reward Backpropagation
Mihir Prabhudesai
Anirudh Goyal
Deepak Pathak
Katerina Fragkiadaki
468
202
0
05 Oct 2023
Human-oriented Representation Learning for Robotic Manipulation
Mingxiao Huo
Mingyu Ding
Chenfeng Xu
Thomas Tian
Xinghao Zhu
Yao Mu
Lingfeng Sun
Masayoshi Tomizuka
Wei Zhan
SSL
266
13
0
04 Oct 2023
Active-Perceptive Motion Generation for Mobile Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Snehal Jauhri
Sophie Lueth
Georgia Chalvatzaki
312
11
0
30 Sep 2023
Consistency Models as a Rich and Efficient Policy Class for Reinforcement Learning
International Conference on Learning Representations (ICLR), 2023
Daoce Wang
Chi Jin
OffRL
DiffM
251
55
0
29 Sep 2023
Out of Sight, Still in Mind: Reasoning and Planning about Unobserved Objects with Video Tracking Enabled Memory Models
IEEE International Conference on Robotics and Automation (ICRA), 2023
Yixuan Huang
Jialin Yuan
Chanho Kim
Pupul Pradhan
Bryan Chen
Fuxin Li
Tucker Hermans
389
11
0
26 Sep 2023
AirExo: Low-Cost Exoskeletons for Learning Whole-Arm Manipulation in the Wild
IEEE International Conference on Robotics and Automation (ICRA), 2023
Hongjie Fang
Haoshu Fang
Yiming Wang
Jieji Ren
Jing Chen
Ruo Zhang
Weiming Wang
Cewu Lu
324
75
0
26 Sep 2023
Lifelong Robot Learning with Human Assisted Language Planners
IEEE International Conference on Robotics and Automation (ICRA), 2023
Meenal Parakh
Alisha Fong
Anthony Simeonov
Tao Chen
Abhishek Gupta
Pulkit Agrawal
LM&Ro
224
24
0
25 Sep 2023
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
IEEE International Conference on Robotics and Automation (ICRA), 2023
Kallol Saha
V. Mandadi
Jayaram Reddy
Ajit Srikanth
Aditya Agarwal
Bipasha Sen
Arun Singh
Madhava Krishna
DiffM
203
52
0
20 Sep 2023
Revisiting Energy Based Models as Policies: Ranking Noise Contrastive Estimation and Interpolating Energy Models
Sumeet Singh
Stephen Tu
Vikas Sindhwani
DiffM
281
11
0
11 Sep 2023
Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation
Computer Vision and Pattern Recognition (CVPR), 2023
Hyunwoo Ryu
Jiwoo Kim
Hyun Seok Ahn
Junwoo Chang
Joohwan Seo
Taehan Kim
Yubin Kim
Chaewon Hwang
Jongeun Choi
R. Horowitz
DiffM
418
59
0
06 Sep 2023
Task Generalization with Stability Guarantees via Elastic Dynamical System Motion Policies
Conference on Robot Learning (CoRL), 2023
Tianyu Li
Nadia Figueroa
202
12
0
05 Sep 2023
Inverse Dynamics Trajectory Optimization for Contact-Implicit Model Predictive Control
The international journal of robotics research (IJRR), 2023
Vince Kurtz
Alejandro Castro
Aykut Özgün Önol
Hai Lin
421
27
0
04 Sep 2023
Integrating LLMs and Decision Transformers for Language Grounded Generative Quality-Diversity
Achkan Salehi
Stéphane Doncieux
153
0
0
25 Aug 2023
BridgeData V2: A Dataset for Robot Learning at Scale
Conference on Robot Learning (CoRL), 2023
Homer Walke
Kevin Black
Abraham Lee
Moo Jin Kim
Maximilian Du
...
Andre Wang He
Vivek Myers
Kuan Fang
Chelsea Finn
Sergey Levine
388
456
0
24 Aug 2023
Provable Guarantees for Generative Behavior Cloning: Bridging Low-Level Stability and High-Level Behavior
Neural Information Processing Systems (NeurIPS), 2023
Adam Block
Ali Jadbabaie
Daniel Pfrommer
Max Simchowitz
Russ Tedrake
DiffM
495
35
0
27 Jul 2023
Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisition
Conference on Robot Learning (CoRL), 2023
Huy Ha
Peter R. Florence
Shuran Song
LM&Ro
273
208
0
26 Jul 2023
Waypoint-Based Imitation Learning for Robotic Manipulation
Conference on Robot Learning (CoRL), 2023
Lu Shi
Archit Sharma
Tony Zhao
Chelsea Finn
266
79
0
26 Jul 2023
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