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This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process.
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arXiv preprint arXiv:2211.15657
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arXiv preprint arXiv:2206.00364
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arXiv preprint arXiv:2206.01714
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arXiv preprint arXiv:2207.05824
Ta DN, Cousineau E, Zhao H and Feng S (2022) Conditional energy-based models for implicit policies: The gap between theory and practice · 2022
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arXiv preprint arXiv:2209.03855
Urain J, Funk N, Chalvatzaki G and Peters J (2022) Se (3)-diffusionfields: Learning cost functions for joint grasp and motion optimization through diffusion · 2022
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arXiv preprint arXiv:2208.06193
Wang Z, Hunt JJ and Zhou M (2022) Diffusion policies as an expressive policy class for offline reinforcement learning · 2022
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arXiv preprint arXiv:2301.10972
Chen T (2023) On the importance of noise scheduling for diffusion models · 2023
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In: Proceedings of Robotics: Science and Systems (RSS)
Chi C, Feng S, Du Y, Xu Z, Cousineau E, Burchfiel B and Song S (2023) Diffusion policy: Visuomotor policy learning via action diffusion · 2023
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arXiv preprint arXiv:2304.10573
Hansen-Estruch P, Kostrikov I, Janner M, Kuba JG and Levine S (2023) Idql: Implicit q-learning as an actor-critic method with diffusion policies · 2023
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arXiv preprint arXiv:2301.06015
Huang S, Wang Z, Li P, Jia B, Liu T, Zhu Y, Liang W and Zhu SC (2023) Diffusion-based generation, optimization, and planning in 3d scenes · 2023
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arXiv preprint arXiv:2301.10677
Pearce T, Rashid T, Kanervisto A, Bignell D, Sun M, Georgescu R, Macua SV, Tan SZ, Momennejad I, Hofmann K et al. (2023) Imitating human behaviour with diffusion models · 2023
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In: Proceedings of Robotics: Science and Systems (RSS)
Reuss M, Li M, Jia X and Lioutikov R (2023) Goal-conditioned imitation learning using score-based diffusion policies · 2023
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arXiv preprint arXiv:2303.01469
Song Y, Dhariwal P, Chen M and Sutskever I (2023) Consistency models · 2023
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In: The Eleventh International Conference on Learning Representations
Wang Z, Hunt JJ and Zhou M (2023) Diffusion policies as an expressive policy class for offline reinforcement learning · 2023
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