v1v2v3v4v5 (latest)

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
DUViN: Diffusion-Based Underwater Visual Navigation via Knowledge-Transferred Depth Features Jinghe Yang Minh-Quan Le Mingming Gong Ye Pu 92 1 0 03 Sep 2025
Align-Then-stEer: Adapting the Vision-Language Action Models through Unified Latent Guidance Y. Zhang C. Wang Ouyang Lu Yuan Zhao Yunfei Ge Zhenglong Sun Xiu Li Chi Zhang Chenjia Bai Xuelong Li 198 5 0 02 Sep 2025
Manipulation as in Simulation: Enabling Accurate Geometry Perception in Robots Minghuan Liu Zhengbang Zhu Xiaoshen Han Peng Hu Haotong Lin ... Xinghang Li Yong Yu Weinan Zhang Tao Kong Bingyi Kang 100 2 0 02 Sep 2025
Data Retrieval with Importance Weights for Few-Shot Imitation Learning Amber Xie Rahul Chand Dorsa Sadigh Joey Hejna 90 2 0 01 Sep 2025
ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training Ge Yan Jiyue Zhu Yuquan Deng Shiqi Yang Ri-Zhao Qiu ... Marius Memmel Ranjay Krishna Ankit Goyal Xiaolong Wang Dieter Fox 125 6 0 01 Sep 2025
Articulated Object Estimation in the Wild Abdelrhman Werby Martin Buchner Adrian Rofer Chenguang Huang Wolfram Burgard Abhinav Valada 128 5 0 01 Sep 2025
MoTo: A Zero-shot Plug-in Interaction-aware Navigation for General Mobile Manipulation Zhenyu Wu Angyuan Ma Xiuwei Xu Hang Yin Yinan Liang Ziwei Wang Jiwen Lu Haibin Yan LM&Ro 132 3 0 01 Sep 2025
LLM-Driven Policy Diffusion: Enhancing Generalization in Offline Reinforcement Learning Hanping Zhang Yuhong Guo OffRL 153 0 0 30 Aug 2025
FinFlowRL: An Imitation-Reinforcement Learning Framework for Adaptive Stochastic Control in Finance Yang Li Zhi Chen 62 0 0 30 Aug 2025
Generative Visual Foresight Meets Task-Agnostic Pose Estimation in Robotic Table-Top Manipulation Chuye Zhang Xiaoxiong Zhang Wei Pan Linfang Zheng Wei Zhang 175 0 0 30 Aug 2025
Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation Anuj Pasricha Joewie J. Koh Jay Vakil Alessandro Roncone 104 0 0 29 Aug 2025
Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting Pierrick Lorang Hong Lu Johannes Huemer Patrik Zips Matthias Scheutz 131 0 0 29 Aug 2025
EO-1: Interleaved Vision-Text-Action Pretraining for General Robot Control Delin Qu Haoming Song Qizhi Chen Zhaoqing Chen Xianqiang Gao ... Maoqing Yao Haoran Yang Jiacheng Bao Jiangwei Zhong Dong Wang LM&Ro 294 8 0 28 Aug 2025
CogVLA: Cognition-Aligned Vision-Language-Action Model via Instruction-Driven Routing & Sparsification Wei Li Renshan Zhang Rui Shao Jie He Liqiang Nie VLM 201 16 0 28 Aug 2025
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees Yaniv Hassidof Tom Jurgenson Kiril Solovey 154 1 0 28 Aug 2025
Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policies Zhixuan Liang Yizhuo Li Tianshuo Yang Chengyue Wu Sitong Mao ... Jiangmiao Pang Xiaokang Yang Ping Luo Yao Mu Ping Luo 132 19 0 27 Aug 2025
Gentle Object Retraction in Dense Clutter Using Multimodal Force Sensing and Imitation LearningIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Dane Brouwer Joshua Citron Heather Nolte Jeannette Bohg M. Cutkosky 80 0 0 26 Aug 2025
On Surjectivity of Neural Networks: Can you elicit any behavior from your model? Haozhe Jiang Nika Haghtalab 152 2 0 26 Aug 2025
MemoryVLA: Perceptual-Cognitive Memory in Vision-Language-Action Models for Robotic Manipulation Hao Shi Bin Xie Yingfei Liu Lin Sun Fengrong Liu Tiancai Wang Erjin Zhou Haoqiang Fan Xiangyu Zhang Gao Huang LM&Ro 102 20 0 26 Aug 2025
Composition and Alignment of Diffusion Models using Constrained Learning Shervin Khalafi Ignacio Hounie Dongsheng Ding Alejandro Ribeiro 120 1 0 26 Aug 2025
SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulation Haoyuan Deng Wenkai Guo Qianzhun Wang Zhenyu Wu Ziwei Wang 88 0 0 25 Aug 2025
GWM: Towards Scalable Gaussian World Models for Robotic Manipulation Guanxing Lu Baoxiong Jia Puhao Li Yixin Chen Ziwei Wang Yansong Tang Siyuan Huang 3DGS 177 7 0 25 Aug 2025
FlowVLA: Visual Chain of Thought-based Motion Reasoning for Vision-Language-Action Models Zhide Zhong Haodong Yan Junfeng Li Xiangchen Liu Xin Gong ... Wenxuan Song Jiayi Chen Xinhu Zheng Hesheng Wang Haoang Li LRM VGen 188 3 0 25 Aug 2025
4D Visual Pre-training for Robot Learning Chengkai Hou Yanjie Ze Y. Fu Zeyu Gao Songbo Hu Yue Yu Shanghang Zhang Huazhe Xu 196 3 0 24 Aug 2025
Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challenges Zezeng Li Alexandre Chapin Enda Xiang Rui Yang Bruno Machado Na Lei Emmanuel Dellandrea Di Huang Liming Chen 223 3 0 24 Aug 2025
LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations Weikang Wan Jiawei Fu Xiaodi Yuan Yifeng Zhu Hao Su 124 3 0 24 Aug 2025
Variational Shape Inference for Grasp Diffusion on SE(3) S. Talha Bukhari Kaivalya Agrawal Zachary Kingston Aniket Bera DiffM 192 1 0 24 Aug 2025
LaGarNet: Goal-Conditioned Recurrent State-Space Models for Pick-and-Place Garment Flattening Halid Abdulrahim Kadi K. Terzic 80 0 0 23 Aug 2025
Constraints-Guided Diffusion Reasoner for Neuro-Symbolic Learning Xuan Zhang Zhijian Zhou Weidi Xu Yanting Miao Chao Qu Yuan Qi NAI 148 0 0 22 Aug 2025
Exploiting Policy Idling for Dexterous Manipulation Annie S. Chen Philemon Brakel Antonia Bronars Annie Xie Sandy Huang Oliver Groth Maria Bauzá Markus Wulfmeier N. Heess Dushyant Rao 135 0 0 21 Aug 2025
Survey of Vision-Language-Action Models for Embodied Manipulation Haoran Li Yuhui Chen Wenbo Cui Weiheng Liu Kai Liu Mingcai Zhou Zhengtao Zhang Dongbin Zhao LM&Ro 416 3 0 21 Aug 2025
Mind and Motion Aligned: A Joint Evaluation IsaacSim Benchmark for Task Planning and Low-Level Policies in Mobile Manipulation Nikita Kachaev Andrei Spiridonov Andrey Gorodetsky K. Muravyev Nikita Oskolkov ... Vlad Shakhuro Dmitry Makarov Aleksandr Panov Polina Fedotova A. Kovalev LM&Ro 97 1 0 21 Aug 2025
Offline Imitation Learning upon Arbitrary Demonstrations by Pre-Training Dynamics Representations Haitong Ma Bo Dai Zhaolin Ren Yebin Wang Na Li OffRL 95 1 0 20 Aug 2025
Taming VR Teleoperation and Learning from Demonstration for Multi-Task Bimanual Table Service Manipulation W. Li Zhengxiao Han Lixin Xu Xiangyu Chen Harrison Bounds Chenrui Zhang Yifan Xu 88 1 0 20 Aug 2025
FBI: Learning Dexterous In-hand Manipulation with Dynamic Visuotactile Shortcut Policy Yijin Chen Wenqiang Xu Zhenjun Yu Tutian Tang Yutong Li Siqiong Yao Cewu Lu 80 1 0 20 Aug 2025
CAST: Counterfactual Labels Improve Instruction Following in Vision-Language-Action Models Catherine Glossop William Chen Arjun Bhorkar Dhruv Shah Sergey Levine LM&Ro 132 4 0 19 Aug 2025
MimicFunc: Imitating Tool Manipulation from a Single Human Video via Functional Correspondence Chao Tang Anxing Xiao Yuhong Deng Tianrun Hu Wenlong Dong Hanbo Zhang David Hsu Hong Zhang 111 2 0 19 Aug 2025
Revisiting Diffusion Q-Learning: From Iterative Denoising to One-Step Action Generation Thanh Nguyen Chang D. Yoo 151 1 0 19 Aug 2025
Train Once, Deploy Anywhere: Realize Data-Efficient Dynamic Object Manipulation Zhuoling Li Xiaoyang Wu Zhenhua Xu Hengshuang Zhao 97 0 0 19 Aug 2025
Grounding Actions in Camera Space: Observation-Centric Vision-Language-Action Policy Tianyi Zhang Haonan Duan Haoran Hao Yu Qiao Jifeng Dai Zhi Hou 112 2 0 18 Aug 2025
Self-Guided Action Diffusion Rhea Malhotra Yuejiang Liu Chelsea Finn 60 1 0 17 Aug 2025
Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensing Gokul Puthumanaillam Aditya Penumarti Manav Vora Paulo Padrao Jose Fuentes Leonardo Bobadilla Jane Shin Melkior Ornik 156 0 0 16 Aug 2025
OmniD: Generalizable Robot Manipulation Policy via Image-Based BEV Representation Jilei Mao Jiarui Guan Yingjuan Tang Qirui Hu Zhihang Li Junjie Yu Yongjie Mao Yunzhe Sun Shuang Liu Xiaozhu Ju 76 2 0 16 Aug 2025
Anticipatory and Adaptive Footstep Streaming for Teleoperated Bipedal Robots Luigi Penco Beomyeong Park Stefan Fasano Nehar Poddar Stephen McCrory Nicholas Kitchel Tomasz Bialek Dexton Anderson Duncan Calvert Robert Griffin 52 0 0 15 Aug 2025
GenFlowRL: Shaping Rewards with Generative Object-Centric Flow in Visual Reinforcement Learning Kelin Yu Sheng Zhang Harshit Soora Furong Huang Heng Huang Erfaun Noorani Ruohan Gao VGen 72 3 0 14 Aug 2025
MDNS: Masked Diffusion Neural Sampler via Stochastic Optimal Control Yuchen Zhu Wei Guo Jaemoo Choi Guan-Horng Liu Yongxin Chen Molei Tao 147 9 0 14 Aug 2025
KDPE: A Kernel Density Estimation Strategy for Diffusion Policy Trajectory Selection Andrea Rosasco Federico Ceola Giulia Pasquale Lorenzo Natale 131 0 0 14 Aug 2025
MASH: Cooperative-Heterogeneous Multi-Agent Reinforcement Learning for Single Humanoid Robot Locomotion Qi Liu Xiaopeng Zhang Mingshan Tan Shuaikang Ma Jinliang Ding Yanjie Li 84 1 0 14 Aug 2025
Projected Coupled Diffusion for Test-Time Constrained Joint Generation Hao Luan Yi Xian Goh See-Kiong Ng Chun Kai Ling DiffM 190 1 0 14 Aug 2025
MLM: Learning Multi-task Loco-Manipulation Whole-Body Control for Quadruped Robot with ArmIEEE Robotics and Automation Letters (IEEE RA-L), 2025 Xin Liu Bida Ma Chenkun Qi Yan Ding Zhaxizhuoma ... Feng Gao Jiangwei Zhong Jiangwei Zhong Xuelong Li Xuelong Li 104 1 0 14 Aug 2025