Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

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

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Title
MORAL: A Multimodal Reinforcement Learning Framework for Decision Making in Autonomous Laboratories Natalie Tirabassi Sathish A. P. Kumar S. Jha Arvind Ramanathan LM&Ro OffRL 51 0 0 04 Apr 2025
Autonomous Human-Robot Interaction via Operator Imitation Sammy Christen David Müller Agon Serifi Ruben Grandia Georg Wiedebach Michael A. Hopkins Espen Knoop Moritz Bächer LM&Ro 49 0 0 03 Apr 2025
Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets Chuning Zhu Raymond Yu S. Feng Benjamin Burchfiel Paarth Shah Abhishek Gupta VGen 55 0 0 03 Apr 2025
Learning with Imperfect Models: When Multi-step Prediction Mitigates Compounding Error Anne Somalwar Bruce D. Lee George J. Pappas Nikolai Matni 36 0 0 02 Apr 2025
Dynamics-aware Diffusion Models for Planning and Control D. Gadginmath Fabio Pasqualetti 62 3 0 31 Mar 2025
ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos Junyao Shi Zhuolun Zhao Tianyou Wang Ian Pedroza Amy Luo Jie Wang Jason Ma Dinesh Jayaraman LM&Ro 43 0 0 31 Mar 2025
Disambiguate Gripper State in Grasp-Based Tasks: Pseudo-Tactile as Feedback Enables Pure Simulation Learning Yifei Yang Lu Chen Zherui Song Yenan Chen Wentao Sun Zhongxiang Zhou R. Xiong Y. Wang 38 0 0 31 Mar 2025
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation Abhiram Maddukuri Z. L. Jiang L. Chen Soroush Nasiriany Yuqi Xie ... Scott Reed Ken Goldberg Ajay Mandlekar Linxi Fan Yuke Zhu 59 1 0 31 Mar 2025
HACTS: a Human-As-Copilot Teleoperation System for Robot Learning Z. Xu Yinuo Zhao Kun Wu Ning Liu Junjie Ji Zhengping Che C. Liu Jian Tang 47 0 0 31 Mar 2025
Exploration and Adaptation in Non-Stationary Tasks with Diffusion Policies Gunbir Singh Baveja 32 0 0 31 Mar 2025
Learning Coordinated Bimanual Manipulation Policies using State Diffusion and Inverse Dynamics Models Haonan Chen Jiaming Xu Lily Sheng Tianchen Ji Shuijing Liu Yunzhu Li Katherine Driggs-Campbell 57 1 0 30 Mar 2025
Learning Predictive Visuomotor Coordination Wenqi Jia Bolin Lai Miao Liu Danfei Xu James M. Rehg 47 0 0 30 Mar 2025
Empirical Analysis of Sim-and-Real Cotraining Of Diffusion Policies For Planar Pushing from Pixels Adam Wei Abhinav Agarwal Boyuan Chen Rohan Bosworth Nicholas Pfaff Russ Tedrake 40 1 0 28 Mar 2025
Robust Offline Imitation Learning Through State-level Trajectory Stitching Shuze Wang Yunpeng Mei Hongjie Cao Yetian Yuan Gang Wang Jian Sun Jie Chen OffRL 34 0 0 28 Mar 2025
OminiAdapt: Learning Cross-Task Invariance for Robust and Environment-Aware Robotic Manipulation Y. Wang Weiyun Yi Xinhao Kong Wanting Li 47 0 0 27 Mar 2025
ManipTrans: Efficient Dexterous Bimanual Manipulation Transfer via Residual Learning Kailin Li Puhao Li Tengyu Liu Yuyang Li Siyuan Huang 48 3 0 27 Mar 2025
CoT-VLA: Visual Chain-of-Thought Reasoning for Vision-Language-Action Models Qingqing Zhao Yao Lu Moo Jin Kim Zipeng Fu Zhuoyang Zhang ... Ankur Handa Ming-Yu Liu Donglai Xiang Gordon Wetzstein Tsung-Yi Lin LM&Ro LRM 43 10 0 27 Mar 2025
Dita: Scaling Diffusion Transformer for Generalist Vision-Language-Action Policy Zhi Hou Tianyi Zhang Yuwen Xiong Haonan Duan Hengjun Pu ... Chengyang Zhao X. Zhu Yu Qiao Jifeng Dai Y. Chen 59 1 0 25 Mar 2025
PCM : Picard Consistency Model for Fast Parallel Sampling of Diffusion Models Junhyuk So Jiwoong Shin Chaeyeon Jang Eunhyeok Park DiffM 46 0 0 25 Mar 2025
RoboEngine: Plug-and-Play Robot Data Augmentation with Semantic Robot Segmentation and Background Generation Chengbo Yuan Suraj Joshi Shaoting Zhu Hang Su Hang Zhao Yang Gao VGen 48 3 0 24 Mar 2025
Efficient Continual Adaptation of Pretrained Robotic Policy with Online Meta-Learned Adapters Ruiqi Zhu Endong Sun Guanhe Huang Oya Celiktutan CLL OnRL 59 0 0 24 Mar 2025
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation Jiangran Lyu Ziming Li Xuesong Shi Chaoyi Xu Yizhou Wang He Wang 47 0 0 21 Mar 2025
Real-Time Diffusion Policies for Games: Enhancing Consistency Policies with Q-Ensembles Ruoqi Zhang Ziwei Luo Jens Sjölund Per Mattsson Linus Gisslén Alessandro Sestini 42 0 0 21 Mar 2025
Denoising-based Contractive Imitation Learning Macheng Shen Jishen Peng Zefang Huang 55 0 0 20 Mar 2025
APEX-MR: Multi-Robot Asynchronous Planning and Execution for Cooperative Assembly Philip Huang Ruixuan Liu Changliu Liu Jiaoyang Li 68 3 0 20 Mar 2025
CCDP: Composition of Conditional Diffusion Policies with Guided Sampling Amirreza Razmjoo Sylvain Calinon Michael Gienger Fan Zhang 53 0 0 19 Mar 2025
Robotic Paper Wrapping by Learning Force Control Hiroki Hanai Takuya Kiyokawa Weiwei Wan Kensuke Harada 41 0 0 19 Mar 2025
Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability Zihao Liu Xing Liu Yizhai Zhang Zhengxiong Liu Panfeng Huang 64 0 0 19 Mar 2025
Online Imitation Learning for Manipulation via Decaying Relative Correction through Teleoperation Cheng Pan Hung Hon Cheng Josie Hughes 41 0 0 19 Mar 2025
Learning Bimanual Manipulation via Action Chunking and Inter-Arm Coordination with Transformers Tomohiro Motoda Ryo Hanai Ryoichi Nakajo Masaki Murooka Floris Erich Y. Domae 44 1 0 18 Mar 2025
GR00T N1: An Open Foundation Model for Generalist Humanoid Robots Nvidia Johan Bjorck Fernando Castañeda Nikita Cherniadev Xingye Da ... Ao Zhang Hao Zhang Yizhou Zhao Ruijie Zheng Yuke Zhu VLM 59 15 0 18 Mar 2025
Quantization-Free Autoregressive Action Transformer Ziyad Sheebaelhamd Michael Tschannen Michael Muehlebach Claire Vernade 38 0 0 18 Mar 2025
PANDORA: Diffusion Policy Learning for Dexterous Robotic Piano Playing Yanjia Huang Renjie Li Zhengzhong Tu VGen 56 0 0 17 Mar 2025
MoManipVLA: Transferring Vision-language-action Models for General Mobile Manipulation Zhenyu Wu Yuheng Zhou Xiuwei Xu Z. Wang Haibin Yan 41 2 0 17 Mar 2025
Dense Policy: Bidirectional Autoregressive Learning of Actions Yue Su Xinyu Zhan Hongjie Fang Han Xue Hao-Shu Fang Y. Li Cewu Lu Lixin Yang VGen 52 3 0 17 Mar 2025
HybridGen: VLM-Guided Hybrid Planning for Scalable Data Generation of Imitation Learning Wensheng Wang Ning Tan LM&Ro OffRL 55 0 0 17 Mar 2025
Being-0: A Humanoid Robotic Agent with Vision-Language Models and Modular Skills Haoqi Yuan Yu Bai Yuhui Fu Bohan Zhou Yicheng Feng Xinrun Xu Yi Zhan Börje F. Karlsson Zongqing Lu LM&Ro 74 0 0 16 Mar 2025
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition Jiahang Cao Qiang Zhang Hanzhong Guo Jiaxu Wang Hao-Ran Cheng Renjing Xu DiffM 58 0 0 16 Mar 2025
Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training Zhenxin Li Shihao Wang Shiyi Lan Zhiding Yu Zuxuan Wu Jose M. Alvarez 54 1 0 15 Mar 2025
Diffusion Dynamics Models with Generative State Estimation for Cloth Manipulation Tongxuan Tian Haoyang Li Bo Ai Xiaodi Yuan Zhiao Huang H. Su DiffM AI4CE 68 1 0 15 Mar 2025
Adversarial Data Collection: Human-Collaborative Perturbations for Efficient and Robust Robotic Imitation Learning Siyuan Huang Yue Liao Siyuan Feng Shu Jiang Si Liu Hongsheng Li Maoqing Yao Guanghui Ren AAML 55 0 0 14 Mar 2025
Diffuse-CLoC: Guided Diffusion for Physics-based Character Look-ahead Control Xiaoyu Huang Takara Truong Yunbo Zhang Fangzhou Yu Jean-Pierre Sleiman Jessica Hodgins K. Sreenath Farbod Farshidian DiffM 55 1 0 14 Mar 2025
Controllable Latent Diffusion for Traffic Simulation Yizhuo Xiao Mustafa Suphi Erden Cheng Wang 44 0 0 14 Mar 2025
Is Your Imitation Learning Policy Better than Mine? Policy Comparison with Near-Optimal Stopping David Snyder Asher Hancock Apurva Badithela Emma Dixon Patrick "Tree" Miller Rares Ambrus Anirudha Majumdar Masha Itkina Haruki Nishimura OffRL 82 1 0 14 Mar 2025
Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic Manipulation Qi Lv Hao Li Xiang Deng Rui Shao Yinchuan Li Jianye Hao Longxiang Gao Michael Yu Wang Liqiang Nie 41 0 0 13 Mar 2025
CoStoDet-DDPM: Collaborative Training of Stochastic and Deterministic Models Improves Surgical Workflow Anticipation and Recognition Kaixiang Yang Xin Li Qiang Li Zhiwei Wang 48 0 0 13 Mar 2025
Enhanced View Planning for Robotic Harvesting: Tackling Occlusions with Imitation Learning Lun Li Hamidreza Kasaei 35 0 0 13 Mar 2025
AhaRobot: A Low-Cost Open-Source Bimanual Mobile Manipulator for Embodied AI Haiqin Cui Yifu Yuan Yan Zheng Jianye Hao 82 0 0 13 Mar 2025
LUMOS: Language-Conditioned Imitation Learning with World Models Iman Nematollahi Branton DeMoss Akshay L Chandra Nick Hawes Wolfram Burgard Ingmar Posner OffRL 43 0 0 13 Mar 2025
Rethinking Bimanual Robotic Manipulation: Learning with Decoupled Interaction Framework Jian-Jian Jiang Xiao-Ming Wu Yi-Xiang He Ling-an Zeng Yi-Lin Wei Dandan Zhang Wei-Shi Zheng 48 2 0 13 Mar 2025