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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
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
R2RGEN: Real-to-Real 3D Data Generation for Spatially Generalized Manipulation Xiuwei Xu Angyuan Ma Hankun Li Bingyao Yu Zheng Zhu Jie Zhou Jiwen Lu 146 2 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
Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation Zhenyu Zhao Hongyi Jing Xiawei Liu Jiageng Mao Abha Jha Hanwen Yang Rong Xue Sergey Zakharor Vitor Campagnolo Guizilini Yue Wang 100 1 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
Base Models Know How to Reason, Thinking Models Learn When Constantin Venhoff Iván Arcuschin Philip Torr Arthur Conmy Neel Nanda ReLM LRM 245 4 0 08 Oct 2025
Autoformalizer with Tool Feedback Qi Guo Jianing Wang J. Zhang Deyang Kong X. Y. Huang ... Wei Wang Jingang Wang Xunliang Cai Shikun Zhang Wei Ye 260 18 0 08 Oct 2025
TRAVL: A Recipe for Making Video-Language Models Better Judges of Physics Implausibility Saman Motamed Minghao Chen Luc Van Gool Iro Laina VGen CoGe 140 3 0 08 Oct 2025
Vision-Language-Action Models for Robotics: A Review Towards Real-World ApplicationsIEEE Access (IEEE Access), 2025 Kento Kawaharazuka Jihoon Oh Jun Yamada Ingmar Posner Yuke Zhu LM&Ro 227 23 0 08 Oct 2025
Phase Diagram of Dropout for Two-Layer Neural Networks in the Mean-Field Regime Lénaic Chizat Pierre Marion Yerkin Yesbay 86 1 0 08 Oct 2025
VCoT-Grasp: Grasp Foundation Models with Visual Chain-of-Thought Reasoning for Language-driven Grasp Generation Haoran Zhang Shuanghao Bai Wanqi Zhou Yuedi Zhang Qi Zhang Pengxiang Ding Cheng Chi Donglin Wang Badong Chen LRM 148 1 0 07 Oct 2025
Avi: Action from Volumetric Inference Harris Song Long Le VGen LM&Ro 100 0 0 07 Oct 2025
FORGE-Tree: Diffusion-Forcing Tree Search for Long-Horizon Robot Manipulation Yanjia Huang Shuo Liu Sheng Liu Qingxiao Xu Mingyang Wu Xiangbo Gao Zhengzhong Tu VGen 105 0 0 07 Oct 2025
MetaVLA: Unified Meta Co-training For Efficient Embodied Adaption Chen Li Zhantao Yang Han Zhang Fangyi Chen Chenchen Zhu Anudeepsekhar Bolimera Marios Savvides VLM 128 0 0 07 Oct 2025
VER: Vision Expert Transformer for Robot Learning via Foundation Distillation and Dynamic Routing Yixiao Wang Mingxiao Huo Zhixuan Liang Yushi Du Lingfeng Sun ... Jinghuan Shang Chensheng Peng Mohit Bansal Mingyu Ding Masayoshi Tomizuka 156 1 0 06 Oct 2025
Aligning Perception, Reasoning, Modeling and Interaction: A Survey on Physical AI Kun Xiang Terry Jingchen Zhang Yinya Huang Jixi He Zirong Liu ... J. N. Han Hang Xu Han Li Bin Dong Xiaodan Liang PINN AI4CE 344 1 0 06 Oct 2025
HyperVLA: Efficient Inference in Vision-Language-Action Models via Hypernetworks Zheng Xiong Kang Li Zilin Wang Matthew Jackson Jakob Foerster Shimon Whiteson VLM 180 2 0 06 Oct 2025
MobRT: A Digital Twin-Based Framework for Scalable Learning in Mobile Manipulation Yilin Mei Peng Qiu Wei Zhang WenChao Zhang Wenjie Song 113 0 0 06 Oct 2025
Asynchronous Denoising Diffusion Models for Aligning Text-to-Image Generation Zijing Hu Yunze Tong Fengda Zhang Junkun Yuan Jun Xiao Kun Kuang DiffM 163 1 0 06 Oct 2025
PAD-TRO: Projection-Augmented Diffusion for Direct Trajectory Optimization Jushan Chen Santiago Paternain 149 0 0 06 Oct 2025
Flexible Locomotion Learning with Diffusion Model Predictive Control Runhan Huang Haldun Balim Heng Yang Yilun Du 124 0 0 05 Oct 2025
ContextVLA: Vision-Language-Action Model with Amortized Multi-Frame Context Huiwon Jang Sihyun Yu Heeseung Kwon Hojin Jeon Younggyo Seo Jinwoo Shin 99 0 0 05 Oct 2025
Reliable and Scalable Robot Policy Evaluation with Imperfect Simulators Apurva Badithela David Snyder Lihan Zha Joseph Mikhail Matthew O'Kelly Anushri Dixit Anirudha Majumdar 116 3 0 05 Oct 2025
Bridge Thinking and Acting: Unleashing Physical Potential of VLM with Generalizable Action Expert Mingyu Liu Zheng Huang Xiaoyi Lin Huanyi Zheng Canyu Zhao Zongze Du Y. Wang Haoyi Zhu Hao Chen Chunhua Shen 129 0 0 04 Oct 2025
Seeing the Bigger Picture: 3D Latent Mapping for Mobile Manipulation Policy Learning Sunghwan Kim Woojeh Chung Zhirui Dai Dwait Bhatt Arth Shukla Hao Su Yulun Tian Nikolay Atanasov 108 0 0 04 Oct 2025
Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data Tianyu Li Yihan Li Zizhe Zhang Nadia Figueroa 134 0 0 03 Oct 2025
3D-CovDiffusion: 3D-Aware Diffusion Policy for Coverage Path Planning Chenyuan Chen Haoran Ding Ran Ding Tianyu Liu Zewen He Anqing Duan Dezhen Song Xiaodan Liang Yoshihiko Nakamura 205 0 0 03 Oct 2025
HumanoidExo: Scalable Whole-Body Humanoid Manipulation via Wearable Exoskeleton Rui Zhong Yizhe Sun Junjie Wen Jinming Li Chuang Cheng Wei Dai Zhiwen Zeng Huimin Lu Yichen Zhu Yi Xu 134 0 0 03 Oct 2025
RAMAC: Multimodal Risk-Aware Offline Reinforcement Learning and the Role of Behavior Regularization Kai Fukazawa Kunal Mundada Iman Soltani OffRL 124 0 0 03 Oct 2025
D2 Actor Critic: Diffusion Actor Meets Distributional Critic Lunjun Zhang Shuo Han Hanrui Lyu Bradly C. Stadie OffRL 231 1 0 03 Oct 2025
SketchPlan: Diffusion Based Drone Planning From Human Sketches Sixten Norelius Aaron O. Feldman Mac Schwager 80 0 0 03 Oct 2025
U-LAG: Uncertainty-Aware, Lag-Adaptive Goal Retargeting for Robotic Manipulation Anamika J H Anujith Muraleedharan 60 0 0 02 Oct 2025
A Recipe for Efficient Sim-to-Real Transfer in Manipulation with Online Imitation-Pretrained World Models Yilin Wang Shangzhe Li Haoyi Niu Zhiao Huang Weitong Zhang H. Su OffRL 80 1 0 02 Oct 2025
ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrations Qiyuan Zeng Chengmeng Li Jude St. John Zhongyi Zhou Junjie Wen Guorui Feng Yichen Zhu Yi Xu 92 1 0 02 Oct 2025
MiniBEE: A New Form Factor for Compact Bimanual Dexterity Sharfin Islam Zewen Chen Zhanpeng He Swapneel Bhatt Andres Permuy ... James Vickery Zhengbin Lu Cheng Zhang Pedro Piacenza M. Ciocarlie 263 0 0 02 Oct 2025
Fine-Tuning Flow Matching via Maximum Likelihood Estimation of Reconstructions Zhaoyi Li Jingtao Ding Yong Li Shihua Li 184 0 0 02 Oct 2025
ARMADA: Autonomous Online Failure Detection and Human Shared Control Empower Scalable Real-world Deployment and Adaptation Wenye Yu Jun Lv Zixi Ying Yang Jin Chuan Wen Cewu Lu 112 0 0 02 Oct 2025
Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioning Tianchong Jiang Jingtian Ji Xiangshan Tan Jiading Fang Anand Bhattad Vitor Campagnolo Guizilini Matthew R. Walter VLM 97 1 0 02 Oct 2025
Symskill: Symbol and Skill Co-Invention for Data-Efficient and Real-Time Long-Horizon Manipulation Yifei Shao Yuchen Zheng Sunan Sun Pratik Chaudhari Vijay Kumar Nadia Figueroa 80 0 0 02 Oct 2025
FailSafe: Reasoning and Recovery from Failures in Vision-Language-Action Models Zijun Lin Jiafei Duan Haoquan Fang Dieter Fox Ranjay Krishna Cheston Tan Bihan Wen 285 3 0 02 Oct 2025
MultiModal Action Conditioned Video Generation Yichen Li Antonio Torralba VGen 168 2 0 02 Oct 2025
Predictive Preference Learning from Human Interventions Haoyuan Cai Zhenghao Peng Bolei Zhou 143 0 0 02 Oct 2025
CroSTAta: Cross-State Transition Attention Transformer for Robotic Manipulation Giovanni Minelli Giulio Turrisi Victor Barasuol Claudio Semini 108 0 0 01 Oct 2025
From Human Hands to Robot Arms: Manipulation Skills Transfer via Trajectory Alignment Han Zhou Jinjin Cao Liyuan Ma Xueji Fang Guo-Jun Qi 72 0 0 01 Oct 2025
GRITS: A Spillage-Aware Guided Diffusion Policy for Robot Food Scooping Tasks Yen-Ling Tai Yi-Ru Yang Kuan-Ting Yu Yu-Wei Chao Yi-Ting Chen 105 0 0 01 Oct 2025
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds? Lexi Foland Thomas Cohn Adam Wei Nicholas Pfaff Boyuan Chen Russ Tedrake 112 0 0 01 Oct 2025
VLA-RFT: Vision-Language-Action Reinforcement Fine-tuning with Verified Rewards in World Simulators Hengtao Li Pengxiang Ding Runze Suo Yihao Wang Zirui Ge ... Kexian Yu Mingyang Sun Hongyin Zhang Donglin Wang Weihua Su 132 5 0 01 Oct 2025
AFFORD2ACT: Affordance-Guided Automatic Keypoint Selection for Generalizable and Lightweight Robotic Manipulation Anukriti Singh Kasra Torshizi Khuzema Habib Kelin Yu Ruohan Gao Pratap Tokekar 88 0 0 01 Oct 2025
Diffusion Alignment as Variational Expectation-Maximization Jaewoo Lee Minsu Kim S. Choi Inhyuck Song Sujin Yun Hyeongyu Kang Woocheol Shin Taeyoung Yun Kiyoung Om Jinkyoo Park 79 0 0 01 Oct 2025
HAMLET: Switch your Vision-Language-Action Model into a History-Aware Policy Myungkyu Koo Daewon Choi Taeyoung Kim Kyungmin Lee Changyeon Kim Younggyo Seo Jinwoo Shin LM&Ro VLM 165 0 0 01 Oct 2025