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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
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HuggingFace (5 upvotes)
Papers citing
"Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"
44 / 1,494 papers shown
XSkill: Cross Embodiment Skill Discovery
Conference on Robot Learning (CoRL), 2023
Mengda Xu
Zhenjia Xu
Cheng Chi
Manuela Veloso
Shuran Song
323
98
0
19 Jul 2023
Diffusion Models for Multi-target Adversarial Tracking
International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2023
Sean Ye
Manisha Natarajan
Zixuan Wu
Matthew C. Gombolay
DiffM
256
5
0
12 Jul 2023
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning
Conference on Robot Learning (CoRL), 2023
Krishan Rana
Jesse Haviland
Sourav Garg
Jad Abou-Chakra
Ian Reid
Niko Sünderhauf
LM&Ro
414
349
0
12 Jul 2023
Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangement
Conference on Robot Learning (CoRL), 2023
Anthony Simeonov
Ankit Goyal
Lucas Manuelli
Lin Yen-Chen
Alina Sarmiento
Alberto Rodriguez
Pulkit Agrawal
Dieter Fox
DiffM
199
51
0
10 Jul 2023
Diffusion Policies for Out-of-Distribution Generalization in Offline Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2023
S. E. Ada
Erhan Öztop
Emre Ugur
OffRL
428
37
0
10 Jul 2023
Crossway Diffusion: Improving Diffusion-based Visuomotor Policy via Self-supervised Learning
IEEE International Conference on Robotics and Automation (ICRA), 2023
Xiang Li
Varun Belagali
Jinghuan Shang
Michael S. Ryoo
370
47
0
04 Jul 2023
HYDRA: Hybrid Robot Actions for Imitation Learning
Conference on Robot Learning (CoRL), 2023
Suneel Belkhale
Yuchen Cui
Dorsa Sadigh
282
63
0
29 Jun 2023
What Went Wrong? Closing the Sim-to-Real Gap via Differentiable Causal Discovery
Conference on Robot Learning (CoRL), 2023
Peide Huang
Xilun Zhang
Ziang Cao
Shiqi Liu
Mengdi Xu
Wenhao Ding
Jonathan M Francis
Bingqing Chen
Ding Zhao
352
35
0
28 Jun 2023
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors
Conference on Robot Learning (CoRL), 2023
Gaurav Datta
Ryan Hoque
Anrui Gu
Eugen Solowjow
Ken Goldberg
223
5
0
27 Jun 2023
RVT: Robotic View Transformer for 3D Object Manipulation
Conference on Robot Learning (CoRL), 2023
Ankit Goyal
Jie Xu
Yijie Guo
Valts Blukis
Yu-Wei Chao
Dieter Fox
LM&Ro
336
221
0
26 Jun 2023
Fighting Uncertainty with Gradients: Offline Reinforcement Learning via Diffusion Score Matching
Conference on Robot Learning (CoRL), 2023
H.J. Terry Suh
Glen Chou
Hongkai Dai
Lujie Yang
Abhishek Gupta
Russ Tedrake
DiffM
OffRL
268
15
0
24 Jun 2023
DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2023
Xiaolin Fang
Caelan Reed Garrett
Clemens Eppner
Tomás Lozano-Pérez
L. Kaelbling
Dieter Fox
DiffM
290
22
0
22 Jun 2023
Actor-Critic Model Predictive Control
IEEE International Conference on Robotics and Automation (ICRA), 2023
Angel Romero
Yunlong Song
Davide Scaramuzza
503
69
0
16 Jun 2023
Residual Q-Learning: Offline and Online Policy Customization without Value
Neural Information Processing Systems (NeurIPS), 2023
Chenran Li
Chen Tang
Haruki Nishimura
Jean Mercat
Masayoshi Tomizuka
Wei Zhan
OffRL
305
8
0
15 Jun 2023
R2-Diff: Denoising by diffusion as a refinement of retrieved motion for image-based motion prediction
Neurocomputing (Neurocomputing), 2023
Takeru Oba
Norimichi Ukita
DiffM
242
3
0
15 Jun 2023
VillanDiffusion: A Unified Backdoor Attack Framework for Diffusion Models
Neural Information Processing Systems (NeurIPS), 2023
Sheng-Yen Chou
Pin-Yu Chen
Tsung-Yi Ho
DiffM
362
70
0
12 Jun 2023
Value function estimation using conditional diffusion models for control
Bogdan Mazoure
Walter A. Talbott
Miguel Angel Bautista
R. Devon Hjelm
Alexander Toshev
J. Susskind
DiffM
148
8
0
09 Jun 2023
Transferring Foundation Models for Generalizable Robotic Manipulation
IEEE Workshop/Winter Conference on Applications of Computer Vision (WACV), 2023
Jiange Yang
Wenhui Tan
Chuhao Jin
Keling Yao
Bei Liu
Jianlong Fu
Ruihua Song
Gangshan Wu
Limin Wang
LM&Ro
390
20
0
09 Jun 2023
Instructed Diffuser with Temporal Condition Guidance for Offline Reinforcement Learning
Jifeng Hu
Yan Sun
Sili Huang
Siyuan Guo
Hechang Chen
Li Shen
Lichao Sun
Yi-Ju Chang
Dacheng Tao
DiffM
OffRL
211
15
0
08 Jun 2023
Interpreting and Improving Diffusion Models from an Optimization Perspective
International Conference on Machine Learning (ICML), 2023
Frank Permenter
Chenyang Yuan
DiffM
327
11
0
08 Jun 2023
Data Quality in Imitation Learning
Neural Information Processing Systems (NeurIPS), 2023
Suneel Belkhale
Yuchen Cui
Dorsa Sadigh
214
79
0
04 Jun 2023
Extracting Reward Functions from Diffusion Models
Neural Information Processing Systems (NeurIPS), 2023
Felipe Nuti
Tim Franzmeyer
João F. Henriques
187
19
0
01 Jun 2023
Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2023
Haoran He
Chenjia Bai
Kang Xu
Zhuoran Yang
Weinan Zhang
Dong Wang
Bingyan Zhao
Xuelong Li
DiffM
OffRL
352
134
0
29 May 2023
Parallel Sampling of Diffusion Models
Neural Information Processing Systems (NeurIPS), 2023
Andy Shih
Suneel Belkhale
Stefano Ermon
Dorsa Sadigh
Nima Anari
DiffM
424
96
0
25 May 2023
NAP: Neural 3D Articulation Prior
Jiahui Lei
Congyue Deng
Bokui Shen
Leonidas Guibas
Kostas Daniilidis
DiffM
286
23
0
25 May 2023
Imitating Task and Motion Planning with Visuomotor Transformers
Conference on Robot Learning (CoRL), 2023
Murtaza Dalal
Ajay Mandlekar
Caelan Reed Garrett
Ankur Handa
Ruslan Salakhutdinov
Dieter Fox
610
73
0
25 May 2023
DPOK: Reinforcement Learning for Fine-tuning Text-to-Image Diffusion Models
Neural Information Processing Systems (NeurIPS), 2023
Ying Fan
Olivia Watkins
Yuqing Du
Hao Liu
Moonkyung Ryu
Craig Boutilier
Pieter Abbeel
Mohammad Ghavamzadeh
Kangwook Lee
Kimin Lee
407
282
0
25 May 2023
Training Diffusion Models with Reinforcement Learning
International Conference on Learning Representations (ICLR), 2023
Kevin Black
Michael Janner
Yilun Du
Ilya Kostrikov
Sergey Levine
EGVM
558
628
0
22 May 2023
Policy Representation via Diffusion Probability Model for Reinforcement Learning
Long Yang
Zhixiong Huang
Fenghao Lei
Yucun Zhong
Yiming Yang
Cong Fang
Shiting Wen
Binbin Zhou
Zhouchen Lin
DiffM
233
78
0
22 May 2023
FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation
Minho Heo
Youngwoon Lee
Doohyun Lee
Joseph J. Lim
233
140
0
22 May 2023
Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks
IEEE Robotics and Automation Letters (RA-L), 2023
Eley Ng
Ziang Liu
Monroe Kennedy
DiffM
318
23
0
20 May 2023
Towards Generalist Robots: A Promising Paradigm via Generative Simulation
Zhou Xian
Théophile Gervet
Zhenjia Xu
Yi-Ling Qiao
Tsun-Hsuan Wang
Yian Wang
LM&Ro
329
15
0
17 May 2023
OpenVR: Teleoperation for Manipulation
SoftwareX (SoftwareX), 2023
A. George
Alison Bartsch
A. Farimani
224
22
0
16 May 2023
Spatial-Language Attention Policies for Efficient Robot Learning
Conference on Robot Learning (CoRL), 2023
Priyam Parashar
Vidhi Jain
Xiaohan Zhang
Jay Vakil
Sam Powers
Yonatan Bisk
Chris Paxton
LM&Ro
258
5
0
21 Apr 2023
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies
Moritz Reuss
M. Li
Xiaogang Jia
Rudolf Lioutikov
DiffM
493
232
0
05 Apr 2023
Chain-of-Thought Predictive Control
International Conference on Machine Learning (ICML), 2023
Zhiwei Jia
Vineet Thumuluri
Fangchen Liu
Ling-Hao Chen
Zhiao Huang
H. Su
LM&Ro
516
23
0
03 Apr 2023
Teaching contact-rich tasks from visual demonstrations by constraint extraction
C. Hegeler
Filippo Rozzi
L. Roveda
Kevin Haninger
140
0
0
30 Mar 2023
Information Maximizing Curriculum: A Curriculum-Based Approach for Imitating Diverse Skills
Denis Blessing
Onur Celik
Xiaogang Jia
Moritz Reuss
M. Li
Rudolf Lioutikov
Gerhard Neumann
144
0
0
27 Mar 2023
Programmatic Imitation Learning from Unlabeled and Noisy Demonstrations
IEEE Robotics and Automation Letters (RA-L), 2023
Jimmy Xin
Linus Zheng
Kia Rahmani
Jiayi Wei
Jarrett Holtz
Işıl Dillig
Joydeep Biswas
268
3
0
02 Mar 2023
ReorientDiff: Diffusion Model based Reorientation for Object Manipulation
IEEE International Conference on Robotics and Automation (ICRA), 2023
Utkarsh Aashu Mishra
Yongxin Chen
226
24
0
28 Feb 2023
Diffusion Model-Augmented Behavioral Cloning
International Conference on Machine Learning (ICML), 2023
Shangcheng Chen
Hsiang-Chun Wang
Ming-Hao Hsu
Chun-Mao Lai
Shao-Hua Sun
DiffM
481
39
0
26 Feb 2023
Language Control Diffusion: Efficiently Scaling through Space, Time, and Tasks
International Conference on Learning Representations (ICLR), 2022
Edwin Zhang
Yujie Lu
William Wang
Amy Zhang
DiffM
LM&Ro
240
26
0
27 Oct 2022
DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics
IEEE Robotics and Automation Letters (RA-L), 2022
Ivan Kapelyukh
Vitalis Vosylius
Edward Johns
LM&Ro
DiffM
519
176
0
05 Oct 2022
Goal-conditioned dual-action imitation learning for dexterous dual-arm robot manipulation
IEEE Transactions on robotics (TRO), 2022
Heecheol Kim
Yoshiyuki Ohmura
Yasuo Kuniyoshi
298
52
0
18 Mar 2022
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