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Diffusion policies are conditional diffusion models that learn robot action distributions conditioned on the robot and environment state.
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End to end learning for self-driving cars
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Rlbench: The robot learning benchmark & learning environment
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On the continuity of rotation representations in neural networks, 2020
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Denoising diffusion probabilistic models
J. Ho, A. Jain, and P. Abbeel · 2020
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Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
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Language conditioned imitation learning over unstructured data
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P. Florence, C. Lynch, A. Zeng, O. Ramirez, A. Wahid, L. Downs, A. Wong, J. Lee, I. Mordatch, and J. Tompson · 2021
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Transporter networks: Rearranging the visual world for robotic manipulation
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Roformer: Enhanced transformer with rotary position embedding
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Should EBMs model the energy or the score?
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Perceiver: General perception with iterative attention, 2021
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Learning transferable visual models from natural language supervision
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O. Mees, L. Hermann, E. Rosete-Beas, and W. Burgard · 2022
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Instruction-driven history-aware policies for robotic manipulations
P.-L. Guhur, S. Chen, R. G. Pinel, M. Tapaswi, I. Laptev, and C. Schmid · 2023
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Energy-based models as zero-shot planners for compositional scene rearrangement
N. Gkanatsios, A. Jain, Z. Xian, Y. Zhang, C. Atkeson, and K. Fragkiadaki · 2023
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Revisiting energy based models as policies: Ranking noise contrastive estimation and interpolating energy models, 2023
S. Singh, S. Tu, and V. Sindhwani · 2023
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Se (3)-diffusionfields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
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Coarse-to-fine q-attention: Efficient learning for visual robotic manipulation via discretisation
S. James, K. Wada, T. Laidlow, and A. J. Davison · 2022
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From play to policy: Conditional behavior generation from uncurated robot data
Z. J. Cui, Y. Wang, N. M. M. Shafiullah, and L. Pinto · 2022
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Conditional energy-based models for implicit policies: The gap between theory and practice, 2022
D.-N. Ta, E. Cousineau, H. Zhao, and S. Feng · 2022
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Diffusion policies as an expressive policy class for offline reinforcement learning
Z. Wang, J. J. Hunt, and M. Zhou · 2022
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Structdiffusion: Object-centric diffusion for semantic rearrangement of novel objects
W. Liu, T. Hermans, S. Chernova, and C. Paxton · 2022
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Rt-1: Robotics transformer for real-world control at scale
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, J. Dabis, C. Finn, K. Gopalakrishnan, K. Hausman, A. Herzog, J. Hsu, et al · 2022
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S. Reed, K. Zolna, E. Parisotto, S. G. Colmenarejo, A. Novikov, G. Barth-Maron, M. Gimenez, Y. Sulsky, J. Kay, J. T. Springenberg, et al · 2022
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J. Urain, N. Funk, J. Peters, and G. Chalvatzaki · 2023
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Reorientdiff: Diffusion model based reorientation for object manipulation
U. A. Mishra and Y. Chen · 2023
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Shelving, stacking, hanging: Relational pose diffusion for multi-modal rearrangement
A. Simeonov, A. Goyal, L. Manuelli, L. Yen-Chen, A. Sarmiento, A. Rodriguez, P. Agrawal, and D. Fox · 2023
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Dimsam: Diffusion models as samplers for task and motion planning under partial observability
X. Fang, C. R. Garrett, C. Eppner, T. Lozano-Pérez, L. P. Kaelbling, and D. Fox · 2023
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Dall-e-bot: Introducing web-scale diffusion models to robotics
I. Kapelyukh, V. Vosylius, and E. Johns · 2023
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Learning universal policies via text-guided video generation
Y. Dai, M. Yang, B. Dai, H. Dai, O. Nachum, J. Tenenbaum, D. Schuurmans, and P. Abbeel · 2023
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Compositional foundation models for hierarchical planning
A. Ajay, S. Han, Y. Du, S. Li, G. Abhi, T. Jaakkola, J. Tenenbaum, L. Kaelbling, A. Srivastava, and P. Agrawal · 2023
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Zero-shot robotic manipulation with pretrained image-editing diffusion models
K. Black, M. Nakamoto, P. Atreya, H. Walke, C. Finn, A. Kumar, and S. Levine · 2023
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Offline reinforcement learning via high-fidelity generative behavior modeling, 2023
H. Chen, C. Lu, C. Ying, H. Su, and J. Zhu · 2023
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Idql: Implicit q-learning as an actor-critic method with diffusion policies
P. Hansen-Estruch, I. Kostrikov, M. Janner, J. G. Kuba, and S. Levine · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control, 2023
A. Brohan, N. Brown, J. Carbajal, Y. Chebotar, X. Chen, K. Choromanski, T. Ding, D. Driess, A. Dubey, C. Finn, P. Florence, C. Fu, M. G. Arenas, K. Gopalakrishnan, K. Han, K. Hausman, A. Herzog, J. Hsu, B. Ichter, A. Irpan, N. Joshi, R. Julian, D. Kalashnikov, Y. Kuang, I. Leal, L. Lee, T.-W. E. Lee, S. Levine, Y. Lu, H. Michalewski, I. Mordatch, K. Pertsch, K. Rao, K. Reymann, M. Ryoo, G. Salazar, P. Sanketi, P. Sermanet, J. Singh, A. Singh, R. Soricut, H. Tran, V. Vanhoucke, Q. Vuong, A. Wahid, S. Welker, P. Wohlhart, J. Wu, F. Xia, T. Xiao, P. Xu, S. Xu, T. Yu, and B. Zitkovich · 2023
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Octo: An open-source generalist robot policy
Octo Model Team, D. Ghosh, H. Walke, K. Pertsch, K. Black, O. Mees, S. Dasari, J. Hejna, C. Xu, J. Luo, T. Kreiman, Y. Tan, D. Sadigh, C. Finn, and S. Levine · 2023
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Unleashing large-scale video generative pre-training for visual robot manipulation
H. Wu, Y. Jing, C. Cheang, G. Chen, J. Xu, X. Li, M. Liu, H. Li, and T. Kong · 2023
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Analogy-forming transformers for few-shot 3d parsing
N. Gkanatsios, M. K. Singh, Z. Fang, S. Tulsiani, and K. Fragkiadaki · 2023
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Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Y. Ze, G. Yan, Y.-H. Wu, A. Macaluso, Y. Ge, J. Ye, N. Hansen, L. E. Li, and X. Wang · 2023
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Polarnet: 3d point clouds for language-guided robotic manipulation
S. Chen, R. G. Pinel, C. Schmid, and I. Laptev · 2023
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Vision-language foundation models as effective robot imitators
X. Li, M. Liu, H. Zhang, C. Yu, J. Xu, H. Wu, C. Cheang, Y. Jing, W. Zhang, H. Liu, et al · 2023
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Instructpix2pix: Learning to follow image editing instructions
T. Brooks, A. Holynski, and A. A. Efros · 2023
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Fourier transporter: Bi-equivariant robotic manipulation in 3d
H. Huang, O. Howell, X. Zhu, D. Wang, R. Walters, and R. Platt · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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