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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
Act to See, See to Act: Diffusion-Driven Perception-Action Interplay for Adaptive Policies Jing Wang Weiting Peng Jing Tang Zeyu Gong Xihua Wang B. Tao Li Cheng 224 0 0 30 Sep 2025
Seeing Space and Motion: Enhancing Latent Actions with Spatial and Dynamic Awareness for VLA Zhejia Cai Y. Yang Xinyuan Chang Shiyi Liang Ronghan Chen Feng Xiong Mu Xu Ruqi Huang 87 0 0 30 Sep 2025
Hierarchical Diffusion Motion Planning with Task-Conditioned Uncertainty-Aware Priors Amelie Minji Kim Anqi Wu Ye Zhao DiffM 104 0 0 30 Sep 2025
MLA: A Multisensory Language-Action Model for Multimodal Understanding and Forecasting in Robotic Manipulation Zhuoyang Liu Jiaming Liu Jiadong Xu Nuowei Han Chenyang Gu ... Kai Chin Hsieh K. Wu Zhengping Che Yong Dai Shanghang Zhang LM&Ro 108 3 0 30 Sep 2025
SAC Flow: Sample-Efficient Reinforcement Learning of Flow-Based Policies via Velocity-Reparameterized Sequential Modeling Yixian Zhang Shuáng Yu T. Zhang Mo Guang Haojia Hui Kaiwen Long Yu Wang Chao Yu Wenbo Ding 172 1 0 30 Sep 2025
Best of Sim and Real: Decoupled Visuomotor Manipulation via Learning Control in Simulation and Perception in Real Jialei Huang Zhaoheng Yin Yingdong Hu S. Wang Xingyu Lin Yang Gao 68 0 0 30 Sep 2025
TacRefineNet: Tactile-Only Grasp Refinement Between Arbitrary In-Hand Object Poses Shuaijun Wang Haoran Zhou Diyun Xiang Yangwei You 185 0 0 30 Sep 2025
A Systematic Study of Large Language Models for Task and Motion Planning With PDDLStream Jorge Mendez-Mendez LRM 85 1 0 30 Sep 2025
Anomaly detection for generic failure monitoring in robotic assembly, screwing and manipulation Niklas Grambow Lisa-Marie Fenner Felipe Kempkes Philip Hotz Dingyuan Wan J. Krüger Kevin Haninger 91 0 0 30 Sep 2025
Reinforced Embodied Planning with Verifiable Reward for Real-World Robotic Manipulation Zitong Bo Yue Hu Jinming Ma M. Zhou Junhui Yin Yachen Kang Y. Liu Tong Wu Diyun Xiang Huajun Chen LM&Ro 100 1 0 30 Sep 2025
dVLA: Diffusion Vision-Language-Action Model with Multimodal Chain-of-Thought Junjie Wen Minjie Zhu Jiaming Liu Zhiyuan Liu Yicun Yang Linfeng Zhang Shanghang Zhang Yichen Zhu Yi Xu 108 3 0 30 Sep 2025
Boundary-to-Region Supervision for Offline Safe Reinforcement Learning HuiKang Su Dengyun Peng Zifeng Zhuang Yuhan Liu Qiguang Chen Donglin Wang Qinghe Liu OffRL 112 0 0 30 Sep 2025
Noise-Guided Transport for Imitation Learning Lionel Blondé Joao A. Candido Ramos Alexandros Kalousis OT 177 0 0 30 Sep 2025
SRMP: Search-Based Robot Motion Planning Library Itamar Mishani Yorai Shaoul Ramkumar Natarajan Jiaoyang Li Maxim Likhachev 68 0 0 29 Sep 2025
SARM: Stage-Aware Reward Modeling for Long Horizon Robot Manipulation Qianzhong Chen Justin Yu Mac Schwager Pieter Abbeel Fred Shentu Philipp Wu 292 2 0 29 Sep 2025
From Code to Action: Hierarchical Learning of Diffusion-VLM Policies Markus Peschl Pietro Mazzaglia Daniel Dijkman 88 0 0 29 Sep 2025
Annotation-Free One-Shot Imitation Learning for Multi-Step Manipulation Tasks Vijja Wichitwechkarn Emlyn Williams Charles Fox Ruchi Choudhary 88 0 0 29 Sep 2025
PoseDiff: A Unified Diffusion Model Bridging Robot Pose Estimation and Video-to-Action Control Haozhuo Zhang Michele Caprio Jing Shao Qiang Zhang Yong Dai Shanghang Zhang Wei Pan VGen 152 0 0 29 Sep 2025
World-Env: Leveraging World Model as a Virtual Environment for VLA Post-Training Junjin Xiao Y. Yang Xinyuan Chang Ronghan Chen Feng Xiong Mu Xu Wei-Shi Zheng Qing Zhang VLM 223 6 0 29 Sep 2025
U-DiT Policy: U-shaped Diffusion Transformers for Robotic Manipulation Linzhi Wu Aoran Mei Xiyue Wang Guo-Niu Zhu Zhongxue Gan 56 0 0 29 Sep 2025
MSG: Multi-Stream Generative Policies for Sample-Efficient Robotic Manipulation Jan Ole von Hartz Lukas Schweizer Joschka Boedecker Abhinav Valada 100 0 0 29 Sep 2025
PhysiAgent: An Embodied Agent Framework in Physical World Zhihao Wang Jianxiong Li Jinliang Zheng Wencong Zhang Dongxiu Liu Yinan Zheng Haoyi Niu Junzhi Yu Xianyuan Zhan LM&Ro 201 2 0 29 Sep 2025
Fidelity-Aware Data Composition for Robust Robot Generalization Zizhao Tong Di Chen Sicheng Hu Hongwei Fan Liliang Chen Maoqing Yao Hao Tang Hao Dong Ling Shao 132 1 0 29 Sep 2025
Diffusion Bridge or Flow Matching? A Unifying Framework and Comparative Analysis Kaizhen Zhu Mokai Pan Zhechuan Yu Jingya Wang Jingyi Yu Ye-ling Shi DiffM 196 2 0 29 Sep 2025
Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models Rokas Bendikas Daniel Dijkman Markus Peschl Sanjay Haresh Pietro Mazzaglia 140 1 0 28 Sep 2025
Adversarial Diffusion for Robust Reinforcement Learning Daniele Foffano Alessio Russo Alexandre Proutiere 124 0 0 28 Sep 2025
Control Your Robot: A Unified System for Robot Control and Policy Deployment Tian Nian Weijie Ke Yao Mu Tianxing Chen 108 0 0 28 Sep 2025
DexFlyWheel: A Scalable and Self-improving Data Generation Framework for Dexterous Manipulation Kefei Zhu Fengshuo Bai YuanHao Xiang Yishuai Cai Xinglin Chen ... X. Wang Hao Dong Yaodong Yang Xiaopeng Fan Yuanpei Chen 76 3 0 28 Sep 2025
Sequential Diffusion Language Models Yangzhou Liu Yue Cao Hao-Wen Li Gen Luo Z. Chen ... Yuqiang Li Tong Lu Yu Qiao Jifeng Dai Wenhai Wang 96 5 0 28 Sep 2025
Multi-Modal Manipulation via Multi-Modal Policy Consensus Haonan Chen Jiaming Xu Hongyu Chen Kaiwen Hong Binghao Huang Chaoqi Liu Jiayuan Mao Yunzhu Li Yilun Du Katherine Driggs-Campbell 162 1 0 27 Sep 2025
Leave No Observation Behind: Real-time Correction for VLA Action Chunks Kohei Sendai Maxime Alvarez T. Matsushima Yutaka Matsuo Yusuke Iwasawa KELM OffRL 132 2 0 27 Sep 2025
UniPrototype: Humn-Robot Skill Learning with Uniform Prototypes Xiao Hu Qi Yin Yangming Shi Yang Ye 64 0 0 27 Sep 2025
CE-Nav: Flow-Guided Reinforcement Refinement for Cross-Embodiment Local Navigation Kai Yang Tianlin Zhang Zhengbo Wang Zedong Chu Xiaolong Wu Yang Cai Mu Xu 98 2 0 27 Sep 2025
GLUE: Global-Local Unified Encoding for Imitation Learning via Key-Patch Tracking Ye Chen Zichen Zhou Jianyu Dou Te Cui Yi Yang Yufeng Yue 88 0 0 27 Sep 2025
FTACT: Force Torque aware Action Chunking Transformer for Pick-and-Reorient Bottle Task Ryo Watanabe Maxime Alvarez Pablo Ferreiro Pavel Savkin Genki Sano 58 0 0 27 Sep 2025
SAGE: Scene Graph-Aware Guidance and Execution for Long-Horizon Manipulation Tasks Jialiang Li Wenzheng Wu Gaojing Zhang Yifan Han Wenzhao Lian LM&Ro 113 0 0 26 Sep 2025
RoboView-Bias: Benchmarking Visual Bias in Embodied Agents for Robotic Manipulation Enguang Liu Siyuan Liang Liming Lu Xiyu Zeng Xiaochun Cao Aishan Liu Shuchao Pang 100 0 0 26 Sep 2025
EMMA: Generalizing Real-World Robot Manipulation via Generative Visual Transfer Zhehao Dong Xiaofeng Wang Zheng Zhu Y. Wang Yang Wang ... Runqi Ouyang Wenkang Qin Xinze Chen Yun Ye Guan Huang VGen LM&Ro 121 4 0 26 Sep 2025
EgoDemoGen: Novel Egocentric Demonstration Generation Enables Viewpoint-Robust Manipulation Yuan Xu Jiabing Yang X. Wang Yixiang Chen Zheng Zhu ... Shuo Lu Jing Liu Nianfeng Liu Yan Huang Liang Wang VGen 120 3 0 26 Sep 2025
Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning Sigmund Hennum Høeg Aksel Vaaler Chaoqi Liu Olav Egeland Yilun Du 133 0 0 26 Sep 2025
VLBiMan: Vision-Language Anchored One-Shot Demonstration Enables Generalizable Bimanual Robotic Manipulation Huayi Zhou Kui Jia LM&Ro 174 0 0 26 Sep 2025
Robot Learning from Any Images Siheng Zhao Jiageng Mao Wei Chow Zeyu Shangguan Tianheng Shi ... Daniel Seita Leonidas Guibas Sergey Zakharov Vitor Campagnolo Guizilini Yue Wang 150 4 0 26 Sep 2025
ARMimic: Learning Robotic Manipulation from Passive Human Demonstrations in Augmented Reality Rohan Walia Yusheng Wang Ralf Romer Masahiro Nishio Angela P. Schoellig Jun Ota 50 0 0 26 Sep 2025
DemoGrasp: Universal Dexterous Grasping from a Single Demonstration Haoqi Yuan Ziye Huang Ye Wang Chuan Mao Chaoyi Xu Zongqing Lu 128 3 0 26 Sep 2025
ReLAM: Learning Anticipation Model for Rewarding Visual Robotic Manipulation Nan Tang Jing-Cheng Pang Guanlin Li Chao Qian Yang Yu 152 0 0 26 Sep 2025
Action-aware Dynamic Pruning for Efficient Vision-Language-Action Manipulation Xiaohuan Pei Yuxing Chen Siyu Xu Yunke Wang Yuheng Shi Chang Xu 124 4 0 26 Sep 2025
MoWM: Mixture-of-World-Models for Embodied Planning via Latent-to-Pixel Feature Modulation Yu Shang Yangcheng Yu Xin Zhang Xin Jin Haisheng Su Wei Wu Yong Li VGen 147 1 0 26 Sep 2025
WoW: Towards a World omniscient World model Through Embodied Interaction Xiaowei Chi Peidong Jia Chun-Kai Fan Xiaozhu Ju Weishi Mi ... Wei Xue Sirui Han Yike Guo Shanghang Zhang Yong Dai VGen 128 2 0 26 Sep 2025
VLA-Reasoner: Empowering Vision-Language-Action Models with Reasoning via Online Monte Carlo Tree Search Wenkai Guo Guanxing Lu Haoyuan Deng Zhenyu Wu Yansong Tang Ziwei Wang LRM 124 0 0 26 Sep 2025
Pixel Motion Diffusion is What We Need for Robot Control E-Ro Nguyen Y. Zhang Kanchana Ranasinghe Xiang Li Michael S. Ryoo DiffM 125 0 0 26 Sep 2025