Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

7 March 2023

Shuran Song

Papers citing "Diffusion Policy: Visuomotor Policy Learning via Action Diffusion"

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Title
Effective Tuning Strategies for Generalist Robot Manipulation Policies Wenbo Zhang Yang Li Yanyuan Qiao Siyuan Huang Jiajun Liu Feras Dayoub Xiao Ma Lingqiao Liu 21 0 0 02 Oct 2024
Denoising with a Joint-Embedding Predictive Architecture Dengsheng Chen Jie Hu Xiaoming Wei Enhua Wu DiffM 50 2 0 02 Oct 2024
Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy Ricardo Garcia Shizhe Chen Cordelia Schmid LM&Ro 31 7 0 02 Oct 2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation Abhinav Kumar Thomas Power Fan Yang Sergio Aguilera Marinovic Soshi Iba Rana Soltani Zarrin Dmitry Berenson 26 0 0 01 Oct 2024
Adaptive Motion Generation Using Uncertainty-Driven Foresight Prediction Hyogo Hiruma Hiroshi Ito T. Ogata 18 0 0 01 Oct 2024
ManiSkill3: GPU Parallelized Robotics Simulation and Rendering for Generalizable Embodied AI Stone Tao Fanbo Xiang Arth Shukla Yuzhe Qin Xander Hinrichsen ... Zhiao Huang Roberto Calandra Rui Chen Shan Luo Hao Su 21 24 0 01 Oct 2024
Divide et Impera: Decoding Impedance Strategies for Robotic Peg-in-Hole Assembly Johannes Lachner F. Tessari A. Michael West Jr. Moses C. Nah Neville Hogan 23 0 0 01 Oct 2024
Scaling Proprioceptive-Visual Learning with Heterogeneous Pre-trained Transformers Lirui Wang Xinlei Chen Jialiang Zhao Kaiming He 34 33 0 30 Sep 2024
Towards Effective Utilization of Mixed-Quality Demonstrations in Robotic Manipulation via Segment-Level Selection and Optimization Jingjing Chen Hongjie Fang Hao-Shu Fang Cewu Lu 34 2 0 30 Sep 2024
Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies Ruiyu Wang Zheyu Zhuang Shutong Jin Nils Ingelhag Danica Kragic Florian T. Pokorny 22 0 0 30 Sep 2024
Task-agnostic Pre-training and Task-guided Fine-tuning for Versatile Diffusion Planner Chenyou Fan Chenjia Bai Zhao Shan Haoran He Yang Zhang Zhen Wang 31 3 0 30 Sep 2024
RoboNurse-VLA: Robotic Scrub Nurse System based on Vision-Language-Action Model Shunlei Li Jin Wang Rui Dai Wanyu Ma Wing Yin Ng Yingbai Hu Zheng Li 24 2 0 29 Sep 2024
Learning Wheelchair Tennis Navigation from Broadcast Videos with Domain Knowledge Transfer and Diffusion Motion Planning Zixuan Wu Z. Zaidi Adithya Patil Qingyu Xiao Matthew C. Gombolay 67 0 0 29 Sep 2024
FoAM: Foresight-Augmented Multi-Task Imitation Policy for Robotic Manipulation Litao Liu Wentao Wang Yifan Han Zhuoli Xie Pengfei Yi Junyan Li Yi Qin Wenzhao Lian 32 2 0 29 Sep 2024
FastUMI: A Scalable and Hardware-Independent Universal Manipulation Interface with Dataset Ziniu Wu Tianyu Wang Zhaxizhuoma Chuyue Guan Zhongjie Jia ... Zhigang Wang Nieqing Cao Yan Ding Bin Zhao Xuelong Li 35 1 0 29 Sep 2024
Generalizing Consistency Policy to Visual RL with Prioritized Proximal Experience Regularization Haoran Li Zhennan Jiang Yuhui Chen Dongbin Zhao OffRL 21 2 0 28 Sep 2024
RAIL: Reachability-Aided Imitation Learning for Safe Policy Execution Wonsuhk Jung Dennis Anthony Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Matthew Bronars Danfei Xu Shreyas Kousik 31 0 0 28 Sep 2024
Learning from Demonstration with Implicit Nonlinear Dynamics Models Peter David Fagan Subramanian Ramamoorthy 89 0 0 27 Sep 2024
An Augmented Reality Interface for Teleoperating Robot Manipulators Aliyah Smith Monroe Kennedy III 38 1 0 27 Sep 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic Manipulation Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 35 4 0 27 Sep 2024
Flatñ'Fold: A Diverse Multi-Modal Dataset for Garment Perception and Manipulation Lipeng Zhuang Shiyu Fan Yingdong Ru Florent P. Audonnet Paul Henderson Gerardo Aragon-Camarasa 24 1 0 26 Sep 2024
Joint Localization and Planning using Diffusion Lukas Lao Beyer S. Karaman 33 0 0 26 Sep 2024
Active Vision Might Be All You Need: Exploring Active Vision in Bimanual Robotic Manipulation Ian Chuang Andrew Lee Dechen Gao M-Mahdi Naddaf-Sh Iman Soltani 33 7 0 26 Sep 2024
Canonical Representation and Force-Based Pretraining of 3D Tactile for Dexterous Visuo-Tactile Policy Learning Tianhao Wu Jinzhou Li Jiyao Zhang Mingdong Wu Hao Dong SSL 31 4 0 26 Sep 2024
StackGen: Generating Stable Structures from Silhouettes via Diffusion Luzhe Sun Takuma Yoneda Samuel Wheeler Tianchong Jiang Matthew R. Walter DiffM 27 0 0 26 Sep 2024
Hierarchical Hybrid Learning for Long-Horizon Contact-Rich Robotic Assembly Jiankai Sun Aidan Curtis Yang You Yan Xu Michael Koehle Leonidas J. Guibas Sachin Chitta Mac Schwager Hui Li 32 2 0 24 Sep 2024
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph Utkarsh Aashu Mishra Yongxin Chen Danfei Xu LRM 28 4 0 24 Sep 2024
Hypothesis Clustering and Merging: Novel MultiTalker Speech Recognition with Speaker Tokens Yosuke Kashiwagi Hayato Futami E. Tsunoo Siddhant Arora Shinji Watanabe 52 0 0 24 Sep 2024
XMoP: Whole-Body Control Policy for Zero-shot Cross-Embodiment Neural Motion Planning Prabin Kumar Rath Nakul Gopalan 24 0 0 23 Sep 2024
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation W. V. D. Bogert Madhavan Iyengar Nima Fazeli 24 1 0 23 Sep 2024
RACER: Rich Language-Guided Failure Recovery Policies for Imitation Learning Yinpei Dai Jayjun Lee Nima Fazeli Joyce Chai 39 10 0 23 Sep 2024
DiSPo: Diffusion-SSM based Policy Learning for Coarse-to-Fine Action Discretization Nayoung Oh Jaehyeong Jang Moonkyeong Jung Daehyung Park 122 0 0 23 Sep 2024
Learning Diverse Robot Striking Motions with Diffusion Models and Kinematically Constrained Gradient Guidance Kin Man Lee Sean Ye Qingyu Xiao Zixuan Wu Z. Zaidi David B. DÁmbrosio Pannag R. Sanketi Matthew Gombolay 72 1 0 23 Sep 2024
MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policies Haojie Huang Haotian Liu Dian Wang Robin Walters Robert Platt 3DPC 74 2 0 23 Sep 2024
Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation Minjie Zhu Yichen Zhu Jinming Li Junjie Wen Zhiyuan Xu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang 28 13 0 22 Sep 2024
DROP: Dexterous Reorientation via Online Planning Albert H. Li Preston Culbertson Vince Kurtz Aaron D. Ames 49 7 0 22 Sep 2024
ScissorBot: Learning Generalizable Scissor Skill for Paper Cutting via Simulation, Imitation, and Sim2Real Jiangran Lyu Yuxing Chen Tao Du Feng Zhu Huiquan Liu Yizhou Wang He Wang 32 7 0 21 Sep 2024
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion Bishoy Gerges Barbara Bazzana Nicolò Botteghi Youssef Aboudorra Antonio Franchi DiffM 57 1 0 20 Sep 2024
TinyVLA: Towards Fast, Data-Efficient Vision-Language-Action Models for Robotic Manipulation Junjie Wen Y. X. Zhu Jinming Li Minjie Zhu Kun Wu ... Ran Cheng Chaomin Shen Yaxin Peng Feifei Feng Jian Tang LM&Ro 56 41 0 19 Sep 2024
DynaMo: In-Domain Dynamics Pretraining for Visuo-Motor Control Zichen Jeff Cui Hengkai Pan Aadhithya Iyer Siddhant Haldar Lerrel Pinto VGen 24 10 0 18 Sep 2024
RaggeDi: Diffusion-based State Estimation of Disordered Rags, Sheets, Towels and Blankets Jikai Ye Wanze Li Shiraz Khan Gregory S. Chirikjian DiffM 23 0 0 18 Sep 2024
DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models Avirup Das Rishabh Dev Yadav Sihao Sun Mingfei Sun Samuel Kaski Wei Pan 21 2 0 17 Sep 2024
SDP: Spiking Diffusion Policy for Robotic Manipulation with Learnable Channel-Wise Membrane Thresholds Zhixing Hou Maoxu Gao Hang Yu Mengyu Yang Chio-in Ieong 33 1 0 17 Sep 2024
3DFacePolicy: Speech-Driven 3D Facial Animation with Diffusion Policy Xuanmeng Sha Liyun Zhang Tomohiro Mashita Yuki Uranishi VGen 25 0 0 17 Sep 2024
TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation Yansong Wu Zongxie Chen Fan Wu L. Chen Liding Zhang Zhenshan Bing Abdalla Swikir Sami Haddadin Sami Haddadin 60 9 0 17 Sep 2024
SplatSim: Zero-Shot Sim2Real Transfer of RGB Manipulation Policies Using Gaussian Splatting M. N. Qureshi Sparsh Garg Francisco Yandún David Held George Kantor Abhisesh Silwal 3DGS 42 15 0 16 Sep 2024
Embodiment-Agnostic Action Planning via Object-Part Scene Flow Weiliang Tang Jia-Hui Pan Wei Zhan Jianshu Zhou Huaxiu Yao Yun-Hui Liu M. Tomizuka Mingyu Ding Chi-Wing Fu 41 0 0 16 Sep 2024
RPC: A Modular Framework for Robot Planning, Control, and Deployment S. Bang Carlos Gonzalez Gabriel Moore Dong Ho Kang Mingyo Seo Luis Sentis 20 0 0 16 Sep 2024
Precise Pick-and-Place using Score-Based Diffusion Networks Shih-Wei Guo Tsu-Ching Hsiao Yu-Lun Liu Chun-Yi Lee DiffM 31 1 0 15 Sep 2024
xTED: Cross-Domain Adaptation via Diffusion-Based Trajectory Editing Haoyi Niu Qimao Chen Tenglong Liu Jianxiong Li Guyue Zhou Yi Zhang Jianming Hu Xianyuan Zhan 34 0 0 13 Sep 2024