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Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation
IEEE Robotics and Automation Letters (RA-L), 2024
22 November 2024
Huy Le
Miroslav Gabriel
Tai Hoang
Gerhard Neumann
Ngo Anh Vien
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Papers citing
"Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation"
42 / 42 papers shown
DyWA: Dynamics-adaptive World Action Model for Generalizable Non-prehensile Manipulation
Jiangran Lyu
Ziming Li
Xuesong Shi
Chaoyi Xu
Yizhou Wang
He Wang
474
18
0
21 Mar 2025
Learning a Diffusion Model Policy from Rewards via Q-Score Matching
International Conference on Machine Learning (ICML), 2023
Michael Psenka
Alejandro Escontrela
Pieter Abbeel
Yi-An Ma
DiffM
541
86
0
17 Feb 2025
HACMan++: Spatially-Grounded Motion Primitives for Manipulation
Bowen Jiang
Yilin Wu
Wenxuan Zhou
Chris Paxton
David Held
341
8
0
11 Jul 2024
Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient
Zechu Li
Rickmer Krohn
Tao Chen
Anurag Ajay
Pulkit Agrawal
Georgia Chalvatzaki
DiffM
269
42
0
02 Jun 2024
CORN: Contact-based Object Representation for Nonprehensile Manipulation of General Unseen Objects
Yoonyoung Cho
Junhyek Han
Yoontae Cho
Beomjoon Kim
463
20
0
16 Mar 2024
Feedback Efficient Online Fine-Tuning of Diffusion Models
Masatoshi Uehara
Yulai Zhao
Kevin Black
Ehsan Hajiramezanali
Gabriele Scalia
N. Diamant
Alex Tseng
Sergey Levine
Tommaso Biancalani
472
47
0
26 Feb 2024
Fine-Tuning of Continuous-Time Diffusion Models as Entropy-Regularized Control
Masatoshi Uehara
Yulai Zhao
Kevin Black
Ehsan Hajiramezanali
Gabriele Scalia
N. Diamant
Alex Tseng
Tommaso Biancalani
Sergey Levine
375
108
0
23 Feb 2024
Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations
Xiaogang Jia
Denis Blessing
Xinkai Jiang
Moritz Reuss
Atalay Donat
Rudolf Lioutikov
Gerhard Neumann
317
48
0
22 Feb 2024
Movement Primitive Diffusion: Learning Gentle Robotic Manipulation of Deformable Objects
IEEE Robotics and Automation Letters (RA-L), 2023
Paul Maria Scheikl
Nicolas Schreiber
Christoph Haas
Niklas Freymuth
Gerhard Neumann
Rudolf Lioutikov
F. Mathis-Ullrich
558
76
0
15 Dec 2023
DiffCPS: Diffusion Model based Constrained Policy Search for Offline Reinforcement Learning
Longxiang He
Li Shen
Linrui Zhang
Junbo Tan
Xueqian Wang
OffRL
344
19
0
09 Oct 2023
Consistency Models as a Rich and Efficient Policy Class for Reinforcement Learning
International Conference on Learning Representations (ICLR), 2023
Daoce Wang
Chi Jin
OffRL
DiffM
385
68
0
29 Sep 2023
Reasoning with Latent Diffusion in Offline Reinforcement Learning
International Conference on Learning Representations (ICLR), 2023
S. Venkatraman
Shivesh Khaitan
Ravi Tej Akella
John M. Dolan
Jeff Schneider
Glen Berseth
OffRL
250
36
0
12 Sep 2023
Efficient Diffusion Policies for Offline Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2023
Bingyi Kang
Xiao Ma
Chao Du
Tianyu Pang
Shuicheng Yan
OffRL
452
146
0
31 May 2023
Training Diffusion Models with Reinforcement Learning
International Conference on Learning Representations (ICLR), 2023
Kevin Black
Michael Janner
Yilun Du
Ilya Kostrikov
Sergey Levine
EGVM
751
778
0
22 May 2023
HACMan: Learning Hybrid Actor-Critic Maps for 6D Non-Prehensile Manipulation
Conference on Robot Learning (CoRL), 2023
Wen-Min Zhou
Bowen Jiang
Fan Yang
Chris Paxton
David Held
455
49
0
06 May 2023
Contrastive Energy Prediction for Exact Energy-Guided Diffusion Sampling in Offline Reinforcement Learning
International Conference on Machine Learning (ICML), 2023
Cheng Lu
Huayu Chen
Jianfei Chen
Hang Su
Chongxuan Li
Jun Zhu
DiffM
OffRL
363
132
0
25 Apr 2023
IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policies
Philippe Hansen-Estruch
Ilya Kostrikov
Michael Janner
J. Kuba
Sergey Levine
OffRL
483
257
0
20 Apr 2023
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies
Moritz Reuss
M. Li
Xiaogang Jia
Rudolf Lioutikov
DiffM
620
257
0
05 Apr 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Cheng Chi
Zhenjia Xu
S. Feng
Eric A. Cousineau
Yilun Du
Benjamin Burchfiel
Russ Tedrake
Shuran Song
1.3K
2,804
0
07 Mar 2023
Consistency Models
International Conference on Machine Learning (ICML), 2023
Yang Song
Prafulla Dhariwal
Mark Chen
Ilya Sutskever
VLM
DiffM
764
1,675
0
02 Mar 2023
Aligning Text-to-Image Models using Human Feedback
Kimin Lee
Hao Liu
Moonkyung Ryu
Olivia Watkins
Yuqing Du
Craig Boutilier
Pieter Abbeel
Mohammad Ghavamzadeh
S. Gu
EGVM
494
432
0
23 Feb 2023
Imitating Human Behaviour with Diffusion Models
International Conference on Learning Representations (ICLR), 2023
Tim Pearce
Tabish Rashid
Anssi Kanervisto
David Bignell
Mingfei Sun
...
Sergio Valcarcel Macua
Shan Zheng Tan
Ida Momennejad
Katja Hofmann
Sam Devlin
DiffM
496
290
0
25 Jan 2023
Learning to Grasp the Ungraspable with Emergent Extrinsic Dexterity
Conference on Robot Learning (CoRL), 2022
Wen-Min Zhou
David Held
OffRL
422
70
0
02 Nov 2022
ProDMPs: A Unified Perspective on Dynamic and Probabilistic Movement Primitives
IEEE Robotics and Automation Letters (RA-L), 2022
Ge Li
Zeqian Jin
Michael Volpp
Fabian Otto
Rudolf Lioutikov
Gerhard Neumann Karlsruhe Institute of Technology
MU
221
57
0
04 Oct 2022
Offline Reinforcement Learning via High-Fidelity Generative Behavior Modeling
International Conference on Learning Representations (ICLR), 2022
Huayu Chen
Cheng Lu
Chengyang Ying
Hang Su
Jun Zhu
DiffM
OffRL
513
174
0
29 Sep 2022
Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning
International Conference on Learning Representations (ICLR), 2022
Zhendong Wang
Jonathan J. Hunt
Mingyuan Zhou
OffRL
640
576
0
12 Aug 2022
A Hybrid Approach for Learning to Shift and Grasp with Elaborate Motion Primitives
IEEE International Conference on Robotics and Automation (ICRA), 2021
Zohar Feldman
Hanna Ziesche
Ngo Anh Vien
Dotan Di Castro
314
17
0
02 Nov 2021
UMPNet: Universal Manipulation Policy Network for Articulated Objects
Zhenjia Xu
Zhanpeng He
Shuran Song
PINN
546
111
0
13 Sep 2021
Deep Reinforcement Learning at the Edge of the Statistical Precipice
Neural Information Processing Systems (NeurIPS), 2021
Rishabh Agarwal
Max Schwarzer
Pablo Samuel Castro
Aaron Courville
Marc G. Bellemare
OffRL
678
848
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30 Aug 2021
A Minimalist Approach to Offline Reinforcement Learning
Neural Information Processing Systems (NeurIPS), 2021
Scott Fujimoto
S. Gu
OffRL
613
1,081
0
12 Jun 2021
Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D
IEEE International Conference on Robotics and Automation (ICRA), 2021
Xianyi Cheng
Eric Huang
Yifan Hou
M. T. Mason
486
63
0
30 May 2021
Where2Act: From Pixels to Actions for Articulated 3D Objects
IEEE International Conference on Computer Vision (ICCV), 2021
Kaichun Mo
Leonidas Guibas
Mustafa Mukadam
Abhinav Gupta
Shubham Tulsiani
756
238
0
07 Jan 2021
One Solution is Not All You Need: Few-Shot Extrapolation via Structured MaxEnt RL
Neural Information Processing Systems (NeurIPS), 2020
Saurabh Kumar
Aviral Kumar
Sergey Levine
Chelsea Finn
OffRL
272
105
0
27 Oct 2020
robosuite: A Modular Simulation Framework and Benchmark for Robot Learning
Yuke Zhu
J. Wong
Ajay Mandlekar
Roberto Martín-Martín
Abhishek Joshi
Soroush Nasiriany
Yifeng Zhu
Soroush Nasiriany
Yifeng Zhu
721
606
0
25 Sep 2020
Denoising Diffusion Probabilistic Models
Jonathan Ho
Ajay Jain
Pieter Abbeel
DiffM
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29,328
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19 Jun 2020
Generative Modeling by Estimating Gradients of the Data Distribution
Neural Information Processing Systems (NeurIPS), 2019
Yang Song
Stefano Ermon
SyDa
DiffM
997
5,251
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12 Jul 2019
Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control
Yifan Hou
M. T. Mason
206
43
0
07 Mar 2019
Neural probabilistic motor primitives for humanoid control
J. Merel
Leonard Hasenclever
Alexandre Galashov
Arun Ahuja
Vu Pham
Greg Wayne
Yee Whye Teh
N. Heess
442
182
0
28 Nov 2018
Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Review
Sergey Levine
AI4CE
BDL
604
812
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02 May 2018
Addressing Function Approximation Error in Actor-Critic Methods
International Conference on Machine Learning (ICML), 2018
Scott Fujimoto
H. V. Hoof
David Meger
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1.1K
6,626
0
26 Feb 2018
Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor
Tuomas Haarnoja
Aurick Zhou
Pieter Abbeel
Sergey Levine
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More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing
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Nima Fazeli
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