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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
Lightweight Learning from Actuation-Space Demonstrations via Flow Matching for Whole-Body Soft Robotic Grasping Liudi Yang Yang Bai Yuhao Wang Ibrahim Alsarraj Gitta Kutyniok Z. Wang Ke Wu 125 0 0 03 Nov 2025
Embodiment Transfer Learning for Vision-Language-Action Models Chengmeng Li Yaxin Peng 100 0 0 03 Nov 2025
Floor Plan-Guided Visual Navigation Incorporating Depth and Directional Cues Wei Huang Jiaxin Li Zang Wan Huijun Di Wei Liang Zhu Yang 233 0 0 03 Nov 2025
PixelVLA: Advancing Pixel-level Understanding in Vision-Language-Action Model Wenqi Liang Gan Sun Yao He Jiahua Dong Suyan Dai Ivan Laptev Salman Khan Yang Cong LM&Ro 3DV VLM 174 1 0 03 Nov 2025
Scaling Cross-Embodiment World Models for Dexterous Manipulation Zihao He Bo Ai Tongzhou Mu Yulin Liu Weikang Wan Jiawei Fu Yilun Du Henrik I. Christensen H. Su 166 1 0 03 Nov 2025
XFlowMP: Task-Conditioned Motion Fields for Generative Robot Planning with Schrodinger Bridges Khang Nguyen Minh Nhat Vu 24 0 0 02 Nov 2025
Breaking the Latency Barrier: Synergistic Perception and Control for High-Frequency 3D Ultrasound Servoing Y. Qian Yujie Zhu Jiayuan Luo Li Liu Yixuan Yuan Guochen Ning H. Liao 40 0 0 02 Nov 2025
GauDP: Reinventing Multi-Agent Collaboration through Gaussian-Image Synergy in Diffusion Policies Ziye Wang Li Kang Yiran Qin Jiahua Ma Zhanglin Peng Wenlong Zhang Ruimao Zhang 88 0 0 02 Nov 2025
Improving Robustness to Out-of-Distribution States in Imitation Learning via Deep Koopman-Boosted Diffusion PolicyIEEE Transactions on robotics (IEEE TRO), 2025 Dianye Huang Nassir Navab Zhongliang Jiang 275 0 0 01 Nov 2025
Learning Generalizable Visuomotor Policy through Dynamics-Alignment Dohyeok Lee Jung Min Lee Munkyung Kim Seokhun Ju Jin Woo Koo Kyungjae Lee Dohyeong Kim Taehyun Cho Jungwoo Lee 84 0 0 31 Oct 2025
DeepThinkVLA: Enhancing Reasoning Capability of Vision-Language-Action Models Cheng Yin Yankai Lin Wang Xu Sikyuen Tam Xiangrui Zeng Zhiyuan Liu Zhouping Yin LRM 149 1 0 31 Oct 2025
Dual-Stream Diffusion for World-Model Augmented Vision-Language-Action Model John Won Kyungmin Lee Huiwon Jang Dongyoung Kim Jinwoo Shin 157 2 0 31 Oct 2025
EBT-Policy: Energy Unlocks Emergent Physical Reasoning Capabilities Travis Davies Yiqi Huang Alexi Gladstone Yunxin Liu Xiang Chen Heng Ji Huxian Liu Luhui Hu OffRL 152 1 0 31 Oct 2025
Hybrid Consistency Policy: Decoupling Multi-Modal Diversity and Real-Time Efficiency in Robotic Manipulation Qianyou Zhao Yuliang Shen Xuanran Zhai Ce Hao Duidi Wu Jin Qi Jie Hu Qiaojun Yu 87 0 0 30 Oct 2025
RoboOS-NeXT: A Unified Memory-based Framework for Lifelong, Scalable, and Robust Multi-Robot Collaboration Huajie Tan Cheng Chi Xiansheng Chen Yuheng Ji Zhongxia Zhao ... Yulong Ao Yonghua Lin Pengwei Wang Zhongyuan Wang Shanghang Zhang 106 3 0 30 Oct 2025
Human-in-the-loop Online Rejection Sampling for Robotic Manipulation Guanxing Lu Rui Zhao Haitao Lin He Zhang Yansong Tang OffRL 128 1 0 30 Oct 2025
Self-Improving Vision-Language-Action Models with Data Generation via Residual RL Wenli Xiao Haotian Lin Andy Peng Haoru Xue Tairan He ... Jimmy Wu Zhengyi Luo Linxi Fan Guanya Shi Yuke Zhu VLM 474 4 0 30 Oct 2025
Blindfolded Experts Generalize Better: Insights from Robotic Manipulation and Videogames E. Zisselman Mirco Mutti Shelly Francis-Meretzki Elisei Shafer Aviv Tamar OffRL 128 0 0 28 Oct 2025
UniPlanner: A Unified Motion Planning Framework for Autonomous Vehicle Decision-Making Systems via Multi-Dataset Integration Xin Yang Y. Zhang Wei Li Xin Lin Wenbin Zou Chen Xu 84 0 0 28 Oct 2025
World Simulation with Video Foundation Models for Physical AI Nvidia A. M. Ali Junjie Bai Maciej Bala Yogesh Balaji ... Jing Zhang Qinsheng Zhang Kaiwen Zheng Andrew Zhu Yuke Zhu VGen PINN 399 15 0 28 Oct 2025
Language-Conditioned Representations and Mixture-of-Experts Policy for Robust Multi-Task Robotic Manipulation Xiucheng Zhang Yang Jiang Hongwei Qing Jiashuo Bai LM&Ro 133 0 0 28 Oct 2025
BLM $_1$ : A Boundless Large Model for Cross-Space, Cross-Task, and Cross-Embodiment Learning Wentao Tan Bowen Wang Heng Zhi Chenyu Liu Z. Li ... Chen Xu Zhibin Wang Tianshi Wang Lei Zhu Heng Tao Shen LM&Ro 151 0 0 28 Oct 2025
A Survey on Efficient Vision-Language-Action Models Zhaoshu Yu Bo Wang Pengpeng Zeng Haonan Zhang Ji Zhang Lianli Gao Jingkuan Song Nicu Sebe Heng Tao Shen LM&Ro 174 4 0 27 Oct 2025
Reliable Robotic Task Execution in the Face of Anomalies Bharath Santhanam Alex Mitrevski Santosh Thoduka Sebastian Houben Teena Hassan 88 0 0 27 Oct 2025
Deep Active Inference with Diffusion Policy and Multiple Timescale World Model for Real-World Exploration and Navigation Riko Yokozawa Kentaro Fujii Yuta Nomura Shingo Murata 101 0 0 27 Oct 2025
ManiDP: Manipulability-Aware Diffusion Policy for Posture-Dependent Bimanual Manipulation Zhuo Li Junjia Liu Dianxi Li Tao Teng Miao Li Sylvain Calinon D. Caldwell Fei Chen 92 0 0 27 Oct 2025
$RobotArena $\infty$: Scalable Robot Benchmarking via Real-to-Sim Translation$ RobotArena $\infty$ : Scalable Robot Benchmarking via Real-to-Sim Translation Yash Jangir Yidi Zhang Kashu Yamazaki Chenyu Zhang Kuan-Hsun Tu Tsung-Wei Ke Lei Ke Yonatan Bisk Katerina Fragkiadaki 104 3 0 27 Oct 2025
Transitive RL: Value Learning via Divide and Conquer S. Park Aditya Oberai P. Atreya Sergey Levine OffRL 108 0 0 26 Oct 2025
ACG: Action Coherence Guidance for Flow-based VLA models Minho Park Kinam Kim J. Hyung Hyojin Jang Hoiyeong Jin Jooyeol Yun Hojoon Lee Jaegul Choo 102 0 0 25 Oct 2025
Sample By Step, Optimize By Chunk: Chunk-Level GRPO For Text-to-Image Generation Yifu Luo Penghui Du Bo Li Sinan Du Tiantian Zhang Yongzhe Chang Kai Wu Kun Gai Xueqian Wang 124 3 0 24 Oct 2025
Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising Mateo Clemente Leo Maxime Brunswic Rui Heng Yang Xuan Zhao Yasser H. Khalil Haoyu Lei Amir Rasouli Yinchuan Li DiffM 114 0 0 24 Oct 2025
HRT1: One-Shot Human-to-Robot Trajectory Transfer for Mobile Manipulation Sai Haneesh Allu Jishnu Jaykumar P Ninad Khargonkar Tyler Summers Jian Yao Yu Xiang 92 0 0 23 Oct 2025
Dino-Diffusion Modular Designs Bridge the Cross-Domain Gap in Autonomous Parking Zixuan Wu Hengyuan Zhang Ting-Hsuan Chen Yuliang Guo David Paz Xinyu Huang Liu Ren 76 0 0 23 Oct 2025
SutureBot: A Precision Framework & Benchmark For Autonomous End-to-End Suturing Jesse Haworth Juo-Tung Chen Nigel Nelson Ji Woong Kim Masoud Moghani Chelsea Finn A. Krieger 164 1 0 23 Oct 2025
PathFormer: A Transformer with 3D Grid Constraints for Digital Twin Robot-Arm Trajectory Generation Ahmed Alanazi Duy Ho Yugyung Lee 76 0 0 23 Oct 2025
PointMapPolicy: Structured Point Cloud Processing for Multi-Modal Imitation Learning Xiaogang Jia Qian Wang Anrui Wang Han A. Wang B. Gyenes ... Xi Huang Maximilian Beck Moritz Reuss Rudolf Lioutikov Gerhard Neumann 3DPC 197 0 0 23 Oct 2025
Robust Point Cloud Reinforcement Learning via PCA-Based Canonicalization Michael Bezick Vittorio Giammarino A. H. Qureshi 3DPC 388 0 0 23 Oct 2025
FieldGen: From Teleoperated Pre-Manipulation Trajectories to Field-Guided Data Generation Wenhao Wang Kehe Ye Xinyu Zhou Tianxing Chen Cao Min ... Ping Luo Yongjian Shen Yang Yang Maoqing Yao Yao Mu VGen 231 0 0 23 Oct 2025
Using Temperature Sampling to Effectively Train Robot Learning Policies on Imbalanced Datasets Basavasagar Patil Sydney Belt Jayjun Lee Nima Fazeli Bernadette Bucher 96 0 0 22 Oct 2025
Imitation Learning Policy based on Multi-Step Consistent Integration Shortcut Model Yu Fang Xinyu Wang Xuehe Zhang Wanli Xue Mingwei Zhang Shengyong Chen Jie Zhao 116 0 0 22 Oct 2025
Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC Hien Bui Yufeiyang Gao Haoran Yang Eric Cui Siddhant Mody Brian Acosta Thomas Stephen Felix Bibit Bianchini Michael Posa 86 0 0 22 Oct 2025
Using Non-Expert Data to Robustify Imitation Learning via Offline Reinforcement Learning Kevin Huang Rosario Scalise Cleah Winston Ayush Agrawal Yunchu Zhang ... Byron Boots Benjamin Burchfiel Hongkai Dai Masha Itkina Paarth Shah OffRL 241 0 0 22 Oct 2025
Semantic World Models Jacob Berg Chuning Zhu Yanda Bao Ishan Durugkar Abhishek Gupta LM&Ro VGen 117 1 0 22 Oct 2025
A Cross-Environment and Cross-Embodiment Path Planning Framework via a Conditional Diffusion Model Mehran Ghafarian Tamizi Homayoun Honari Amir M. Soufi Enayati Aleksey Nozdryn-Plotnicki Homayoun Najjaran 162 0 0 21 Oct 2025
VITA-E: Natural Embodied Interaction with Concurrent Seeing, Hearing, Speaking, and Acting Xiaoyu Liu Chaoyou Fu Chi Yan Chu Wu Haihan Gao ... Deqiang Jiang H. Cao Xing Sun Caifeng Shan Ran He 92 0 0 21 Oct 2025
MoTVLA: A Vision-Language-Action Model with Unified Fast-Slow Reasoning Wenhui Huang Changhe Chen Han Qi Chen Lv Yilun Du Heng Yang LM&Ro LRM 333 1 0 21 Oct 2025
RESample: A Robust Data Augmentation Framework via Exploratory Sampling for Robotic Manipulation Yuquan Xue Guanxing Lu Zhenyu Wu Chuanrui Zhang Bofang Jia Zhengyi Gu Yansong Tang Ziwei Wang 178 0 0 20 Oct 2025
Implicit State Estimation via Video Replanning Po-Chen Ko Jiayuan Mao Yu-Hsiang Fu Hsien-Jeng Yeh Chu-Rong Chen Wei-Chiu Ma Yilun Du Shao-Hua Sun 112 0 0 20 Oct 2025
Efficient Vision-Language-Action Models for Embodied Manipulation: A Systematic Survey Weifan Guan Qinghao Hu Aosheng Li Jian Cheng LM&Ro 338 6 0 20 Oct 2025
SimpleVSF: VLM-Scoring Fusion for Trajectory Prediction of End-to-End Autonomous Driving Peiru Zheng Yun Zhao Zhan Gong Hong Zhu Shaohua Wu 157 1 0 20 Oct 2025

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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

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