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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
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
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
RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation Zhaoliang Wan Zida Zhou Zetong Bi Zehui Yang Hao Ding Hui Cheng 86 0 0 19 Oct 2025
End-to-end Listen, Look, Speak and Act Siyin Wang Wenyi Yu Xianzhao Chen Xiaohai Tian Jun Zhang Lu Lu C. Zhang AuLLM 176 0 0 19 Oct 2025
Iterative Refinement of Flow Policies in Probability Space for Online Reinforcement Learning Mingyang Sun Pengxiang Ding Weinan Zhang Donglin Wang 167 0 0 17 Oct 2025
DeGrip: A Compact Cable-driven Robotic Gripper for Desktop Disassembly Bihao Zhang Davood Soleymanzadeh Xiao Liang Minghui Zheng 84 1 0 17 Oct 2025
NEBULA: Do We Evaluate Vision-Language-Action Agents Correctly? Jierui Peng Yanyan Zhang Yicheng Duan Tuo Liang Vipin Chaudhary Yu Yin 165 0 0 17 Oct 2025
Towards Robust Zero-Shot Reinforcement Learning Kexin Zheng Lauriane Teyssier Yinan Zheng Yu Luo Xiayuan Zhan OffRL 323 0 0 17 Oct 2025
VO-DP: Semantic-Geometric Adaptive Diffusion Policy for Vision-Only Robotic Manipulation Zehao Ni Yonghao He Lingfeng Qian Jilei Mao Fa Fu Wei Sui Hu Su Junran Peng Zhipeng Wang Bin He 236 0 0 17 Oct 2025
VDRive: Leveraging Reinforced VLA and Diffusion Policy for End-to-end Autonomous Driving Ziang Guo Zufeng Zhang 108 2 0 17 Oct 2025
Spatially anchored Tactile Awareness for Robust Dexterous Manipulation Jialei Huang Yang Ye Yuanqing Gong Xuezhou Zhu Yang Gao Kaifeng Zhang 112 0 0 16 Oct 2025
Generative Models From and For Sampling-Based MPC: A Bootstrapped Approach For Adaptive Contact-Rich Manipulation Lara Brudermüller Brandon Hung Xinghao Zhu Jiuguang Wang Nick Hawes Preston Culbertson Simon Le Cleac'h 104 0 0 16 Oct 2025
Restoring Noisy Demonstration for Imitation Learning With Diffusion ModelsIEEE Transactions on Neural Networks and Learning Systems (IEEE TNNLS), 2025 Shang-Fu Chen Co Yong Shao-Hua Sun DiffM 120 0 0 16 Oct 2025
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning Binghao Huang Jie Xu Iretiayo Akinola Wei Yang Balakumar Sundaralingam ... Dieter Fox Xiaolong Wang Arsalan Mousavian Yu-Wei Chao Yunzhu Li 203 5 0 16 Oct 2025
RL-100: Performant Robotic Manipulation with Real-World Reinforcement Learning Kun Lei Huanyu Li Dongjie Yu Zhenyu Wei Lingxiao Guo Zhennan Jiang Ziyu Wang Shiyu Liang Huazhe Xu OffRL VLM 286 2 0 16 Oct 2025
Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models Edward Sandra Lander Vanroye Dries Dirckx Ruben Cartuyvels Jan Swevers Wilm Decré DiffM 137 0 0 16 Oct 2025
Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation Erik Helmut Niklas Funk Tim Schneider Cristiana de Farias Jan Peters 136 0 0 15 Oct 2025
VLA-0: Building State-of-the-Art VLAs with Zero Modification Ankit Goyal Hugo Hadfield Xuning Yang Valts Blukis F. Ramos LM&Ro VLM 142 1 0 15 Oct 2025
DepthVLA: Enhancing Vision-Language-Action Models with Depth-Aware Spatial Reasoning Tianyuan Yuan Yicheng Liu Chenhao Lu Zhuoguang Chen Tao Jiang Hang Zhao VLM 112 0 0 15 Oct 2025
InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policy Xinyi Chen Yilun Chen Y. Fu Ning Gao Jiaya Jia ... Jinyu Zhang Shi Zhang Feng Zheng Bowen Zhou Y. Zhu LM&Ro LRM 155 6 0 15 Oct 2025
A Diffusion-Refined Planner with Reinforcement Learning Priors for Confined-Space Parking Mingyang Jiang Yueyuan Li Jiaru Zhang Songan Zhang Ming Yang DiffM OffRL 89 0 0 15 Oct 2025
Controlling Intent Expressiveness in Robot Motion with Diffusion Models Wenli Shi Clemence Grislain Olivier Sigaud Mohamed Chetouani DiffM VGen 97 0 0 14 Oct 2025
Spatial Forcing: Implicit Spatial Representation Alignment for Vision-language-action Model Fuhao Li Wenxuan Song Han Zhao Jingbo Wang Pengxiang Ding Donglin Wang Long Zeng Haoang Li 178 5 0 14 Oct 2025
Reflection-Based Task Adaptation for Self-Improving VLA Baicheng Li Dong Wu Zike Yan Xinchen Liu Zecui Zeng Lusong Li Hongbin Zha 108 0 0 14 Oct 2025
Diffusion Models for Reinforcement Learning: Foundations, Taxonomy, and Development Changfu Xu Jianxiong Guo Yuzhu Liang Haiyang Huang Haodong Zou Xi Zheng Shui Yu Xiaowen Chu Jiannong Cao Tian-sheng Wang OffRL AI4CE 179 0 0 14 Oct 2025
Improving Generative Behavior Cloning via Self-Guidance and Adaptive Chunking Junhyuk So Chiwoong Lee Shinyoung Lee Jungseul Ok Eunhyeok Park AI4CE 130 0 0 14 Oct 2025
Fast Visuomotor Policy for Robotic Manipulation Jingkai Jia Tong Yang Xueyao Chen Chenhuan Liu Wenqiang Zhang 84 0 0 14 Oct 2025
Flow Matching-Based Autonomous Driving Planning with Advanced Interactive Behavior Modeling Tianyi Tan Yinan Zheng Ruiming Liang Zexu Wang Kexin Zheng Jinliang Zheng Jianxiong Li Xianyuan Zhan Jingjing Liu 92 3 0 13 Oct 2025
HiMaCon: Discovering Hierarchical Manipulation Concepts from Unlabeled Multi-Modal Data Ruizhe Liu Pei Zhou Qian Luo Li Sun Jun Cen Yibing Song Yanchao Yang SSL 343 0 0 13 Oct 2025
RoVer: Robot Reward Model as Test-Time Verifier for Vision-Language-Action Model Mingtong Dai Lingbo Liu Yongjie Bai Yang-Yang Liu Zhouxia Wang Rui SU C. Chen Liang Lin X. Wu 222 0 0 13 Oct 2025
Phys2Real: Fusing VLM Priors with Interactive Online Adaptation for Uncertainty-Aware Sim-to-Real Manipulation Maggie Wang Stephen Tian Aiden Swann O. Shorinwa Jiajun Wu Mac Schwager OffRL 89 0 0 13 Oct 2025
DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation Yuhui Fu Feiyang Xie Chaoyi Xu Jing Xiong Haoqi Yuan Zongqing Lu 100 1 0 13 Oct 2025
SCOOP'D: Learning Mixed-Liquid-Solid Scooping via Sim2Real Generative Policy Kuanning Wang Yongchong Gu Yuqian Fu Zeyu Shangguan Sicheng He Xiangyang Xue Yanwei Fu Daniel Seita LM&Ro 97 0 0 13 Oct 2025
Offline Reinforcement Learning with Generative Trajectory Policies Xinsong Feng Leshu Tang Chenan Wang Haipeng Chen OffRL 113 0 0 13 Oct 2025
High-Fidelity Simulated Data Generation for Real-World Zero-Shot Robotic Manipulation Learning with Gaussian Splatting Haoyu Zhao Cheng Zeng Linghao Zhuang Yaxi Zhao Shengke Xue ... Siteng Huang Mingxiu Chen Xin Li Deli Zhao Hua Zou 3DGS 143 2 0 12 Oct 2025
Robust Learning of Diffusion Models with Extremely Noisy Conditions Xin Chen Gillian Dobbie Xinyu Wang Yifan Zhang D. Wang Jingfeng Zhang DiffM 120 0 0 11 Oct 2025
X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model Jinliang Zheng Jianxiong Li Zhihao Wang Dongxiu Liu Xirui Kang ... Ya-Qin Zhang Jiangmiao Pang Jingjing Liu Tai Wang Xianyuan Zhan LM&Ro 212 6 0 11 Oct 2025
Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models Mingyang Lyu Yinqian Sun Erliang Lin Huangrui Li Ruolin Chen Feifei Zhao Yi Zeng 96 0 0 11 Oct 2025
UF-RNN: Real-Time Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction Hyogo Hiruma Hiroshi Ito Tetsuya Ogata AI4CE 98 0 0 11 Oct 2025
Goal-oriented Backdoor Attack against Vision-Language-Action Models via Physical Objects Zirun Zhou Zhengyang Xiao Haochuan Xu Jing Sun Di Wang Jingfeng Zhang AAML 102 1 0 10 Oct 2025
Enhancing Diffusion Policy with Classifier-Free Guidance for Temporal Robotic Tasks Yuang Lu Song Wang Xiao Han Xuri Zhang Yucong Wu Zhicheng He 72 0 0 10 Oct 2025
HANDO: Hierarchical Autonomous Navigation and Dexterous Omni-loco-manipulation Jingyuan Sun Chaoran Wang Mingyu Zhang Cui Miao Hongyu Ji Zihan Qu Han Sun Bing Wang Qingyi Si 76 0 0 10 Oct 2025
Failure Prediction at Runtime for Generative Robot Policies Ralf Romer Adrian Kobras Luca Worbis Angela P. Schoellig AI4CE 164 1 0 10 Oct 2025
Near-Optimal Second-Order Guarantees for Model-Based Adversarial Imitation Learning Shangzhe Li Dongruo Zhou Weitong Zhang OffRL 152 0 0 10 Oct 2025
iMoWM: Taming Interactive Multi-Modal World Model for Robotic Manipulation Chuanrui Zhang Zhengxian Wu Guanxing Lu Yansong Tang Ziwei Wang VGen 92 0 0 10 Oct 2025
DEAS: DEtached value learning with Action Sequence for Scalable Offline RL Changyeon Kim Haeone Lee Younggyo Seo Kimin Lee Yuke Zhu OffRL 124 0 0 09 Oct 2025
Beyond hospital reach: Autonomous lightweight ultrasound robot for liver sonography Zihan Li Yixiao Xu Lei Zhang Taiyu Han Xinshan Yang ... Mingxuan Liu Shenghai Xin Linxun Liu H. Liao Guochen Ning 56 0 0 09 Oct 2025
ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Driving Zhiyu Zheng Shaoyu Chen Haoran Yin Xinbang Zhang Jialv Zou Xinggang Wang Qian Zhang Lefei Zhang 135 1 0 09 Oct 2025
DM1: MeanFlow with Dispersive Regularization for 1-Step Robotic Manipulation Guowei Zou Haitao Wang Hejun Wu Yukun Qian Yuhang Wang Weibing Li 92 2 0 09 Oct 2025
Geometry-aware Policy Imitation Yiming Li Nael Darwiche Amirreza Razmjoo Sichao Liu Yilun Du Auke Ijspeert Sylvain Calinon 71 0 0 09 Oct 2025