Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation

IEEE International Conference on Robotics and Automation (ICRA), 2024

22 September 2024

Minjie Zhu

Yichen Zhu

Jinming Li

Junjie Wen

Zhiyuan Xu

Ning Liu

Ran Cheng

Chaomin Shen

Yaxin Peng

Feifei Feng

Jian Tang

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Papers citing "Scaling Diffusion Policy in Transformer to 1 Billion Parameters for Robotic Manipulation"

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Title
Let Me Show You: Learning by Retrieving from Egocentric Video for Robotic Manipulation Yichen Zhu Feifei Feng 96 1 0 07 Nov 2025
Embodiment Transfer Learning for Vision-Language-Action Models Chengmeng Li Yaxin Peng 92 0 0 03 Nov 2025
Learning Generalizable Visuomotor Policy through Dynamics-Alignment Dohyeok Lee Jung Min Lee Munkyung Kim Seokhun Ju Jin Woo Koo Kyungjae Lee Dohyeong Kim Taehyun Cho Jungwoo Lee 84 0 0 31 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
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 130 0 0 03 Oct 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
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
Pure Vision Language Action (VLA) Models: A Comprehensive Survey Dapeng Zhang Jin Sun Chenghui Hu Xiaoyan Wu Zhenlong Yuan R. Zhou Fei Shen Qingguo Zhou LM&Ro 241 15 0 23 Sep 2025
Ask-to-Clarify: Resolving Instruction Ambiguity through Multi-turn Dialogue Xingyao Lin Xinghao Zhu Tianyi Lu Sicheng Xie Hui Zhang Xipeng Qiu Zuxuan Wu Yu-Gang Jiang 202 0 0 18 Sep 2025
ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulation Zezeng Li Rui Yang Ruochen Chen Zhongxuan Luo Liming Chen 194 1 0 08 Aug 2025
Evaluating Uncertainty and Quality of Visual Language Action-enabled Robots Pablo Valle Chengjie Lu Shaukat Ali Aitor Arrieta 219 2 0 22 Jul 2025
ChatVLA-2: Vision-Language-Action Model with Open-World Embodied Reasoning from Pretrained Knowledge Zhongyi Zhou Yichen Zhu Junjie Wen Chaomin Shen Yi Xu LM&Ro LRM VLM 329 0 0 28 May 2025
WorldEval: World Model as Real-World Robot Policies Evaluator Yaxuan Li Yichen Zhu Junjie Wen Chaomin Shen Yi Xu OffRL VGen 177 0 0 25 May 2025
OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation Can Cui Pengxiang Ding Wenxuan Song Shuanghao Bai Xinyang Tong ... Yang Liu Bofang Jia Han Zhao Siteng Huang Xuetao Zhang 285 36 0 06 May 2025
Modality-Composable Diffusion Policy via Inference-Time Distribution-level Composition Jiahang Cao Qiang Zhang Hanzhong Guo Jiaxu Wang Hao-Ran Cheng Zhanchen Zhu DiffM 224 3 0 16 Mar 2025
Spatial-Temporal Graph Diffusion Policy with Kinematic Modeling for Bimanual Robotic ManipulationComputer Vision and Pattern Recognition (CVPR), 2025 Qi Lv Hao Li Xiang Deng Rui Shao Yinchuan Li Haifeng Zhang Longxiang Gao Michael Yu Wang Liqiang Nie 286 11 0 13 Mar 2025
FP3: A 3D Foundation Policy for Robotic Manipulation Rujia Yang Geng Chen Chuan Wen Yang Gao LM&Ro 253 18 0 11 Mar 2025
PointVLA: Injecting the 3D World into Vision-Language-Action Models Chengmeng Li Junjie Wen Yan Peng Chaomin Shen Feifei Feng Yinlin Zhu 3DPC 336 42 0 10 Mar 2025
Learning a Diffusion Model Policy from Rewards via Q-Score MatchingInternational Conference on Machine Learning (ICML), 2023 Michael Psenka Alejandro Escontrela Pieter Abbeel Yi-An Ma DiffM 417 55 0 17 Feb 2025
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control Junjie Wen Yinlin Zhu Jinming Li Zhibin Tang Yaxin Peng Feifei Feng VLM 416 96 0 09 Feb 2025
Diffusion-VLA: Generalizable and Interpretable Robot Foundation Model via Self-Generated Reasoning Junjie Wen Minjie Zhu Yinlin Zhu Zhibin Tang Jinming Li ... Chengmeng Li Xiaoyu Liu Chaomin Shen Yaxin Peng Feifei Feng 365 13 0 04 Dec 2024
EDT: An Efficient Diffusion Transformer Framework Inspired by Human-like SketchingNeural Information Processing Systems (NeurIPS), 2024 Xinwang Chen Ning Liu Yinlin Zhu Feifei Feng Jian Tang 140 4 0 31 Oct 2024
LLMCBench: Benchmarking Large Language Model Compression for Efficient DeploymentNeural Information Processing Systems (NeurIPS), 2024 Ge Yang Changyi He Jinpei Guo Jianyu Wu Yifu Ding Aishan Liu Haotong Qin Pengliang Ji Xianglong Liu MQ 231 9 0 28 Oct 2024
Discrete Policy: Learning Disentangled Action Space for Multi-Task Robotic ManipulationIEEE International Conference on Robotics and Automation (ICRA), 2024 Kun Wu Yichen Zhu Jinming Li Junjie Wen Ning Liu Zhiyuan Xu Qinru Qiu 434 15 0 27 Sep 2024
A Survey on Vision-Language-Action Models for Embodied AI Yueen Ma Zixing Song Yuzheng Zhuang Jianye Hao Irwin King LM&Ro 828 157 0 23 May 2024
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset Alexander Khazatsky Karl Pertsch Suraj Nair Ashwin Balakrishna Sudeep Dasari ... Thomas Kollar Sergey Levine Chelsea Finn Sergey Levine Chelsea Finn 498 468 0 19 Mar 2024
Visual Robotic Manipulation with Depth-Aware PretrainingIEEE International Conference on Robotics and Biomimetics (ROBIO), 2024 Wanying Wang Jinming Li Yichen Zhu Zhiyuan Xu Zhengping Che Chaomin Shen Yaxin Peng Dong Liu Feifei Feng Jian Tang MDE 280 11 0 17 Jan 2024
GraspGF: Learning Score-based Grasping Primitive for Human-assisting Dexterous GraspingNeural Information Processing Systems (NeurIPS), 2023 Tianhao Wu Mingdong Wu Jiyao Zhang Yunchong Gan Hao Dong 478 31 0 12 Sep 2023