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Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning.
Deep Unsupervised Learning using Nonequilibrium Thermodynamics
J. Sohl-Dickstein, E. Weiss, N. Maheswaranathan, and S. Ganguli · 2015
Earlier work this paper cites.
Fin ray® effect inspired soft robotic gripper: From the robosoft grand challenge toward optimization
W. Crooks, G. Vukasin, M. O’Sullivan, W. Messner, and C. Rogers · 2016
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Deep Residual Learning for Image Recognition
K. He, X. Zhang, S. Ren, and J. Sun · 2016
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Intel Realsense Stereoscopic Depth Cameras
L. Keselman, J. Iselin Woodfill, A. Grunnet-Jepsen, and A. Bhowmik · 2017
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Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation
T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel · 2018
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Vision-Based Multi-Task Manipulation for Enexpensive Robots Using End-to-End Learning from Demonstration
R. Rahmatizadeh, P. Abolghasemi, L. Bölöni, and S. Levine · 2018
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Decoupled Weight Decay Regularization
I. Loshchilov and F. Hutter · 2018
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Generative Modeling by Estimating Gradients of the Data Distribution
Y. Song and S. Ermon · 2019
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Self-Supervised Correspondence in Visuomotor Policy Learning
P. Florence, L. Manuelli, and R. Tedrake · 2019
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Implicit generation and generalization in energy-based models
Y. Du and I. Mordatch · 2019
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On the Continuity of Rotation Representations in Neural Networks
Y. Zhou, C. Barnes, J. Lu, J. Yang, and H. Li · 2019
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Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning
A. Gupta, V. Kumar, C. Lynch, S. Levine, and K. Hausman · 2020
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Denoising Diffusion Probabilistic Models
J. Ho, A. Jain, and P. Abbeel · 2020
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The Magical Benchmark for Robust Imitation
S. Toyer, R. Shah, A. Critch, and S. Russell · 2020
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Strictly Batch Imitation Learning by Energy-Based Distribution Matching
D. Jarrett, I. Bica, and M. van der Schaar · 2020
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Learning the Stein Discrepancy for Training and Evaluating Energy-Based Models Without Sampling
W. Grathwohl, K.-C. Wang, J.-H. Jacobsen, D. Duvenaud, and R. Zemel · 2020
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Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
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Equivariant Q Q Learning in Spatial Action Spaces
D. Wang, R. Walters, X. Zhu, and R. Platt · 2021
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What Matters for Adversarial Imitation Learning?
M. Orsini, A. Raichuk, L. Hussenot, D. Vincent, R. Dadashi, S. Girgin, M. Geist, O. Bachem, O. Pietquin, and M. Andrychowicz · 2021
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Implicit Behavioral Cloning
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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A Program to Build E ( n ) E(n) -Equivariant Steerable CNNs
G. Cesa, L. Lang, and M. Weiler · 2021
Cited alongside, same era.
Incorporating symmetry into deep dynamics models for improved generalization
R. Wang, R. Walters, and R. Yu · 2021
Cited alongside, same era.
What Matters in Learning from Offline Human Demonstrations for Robot Manipulation
A. Mandlekar, D. Xu, J. Wong, S. Nasiriany, C. Wang, R. Kulkarni, L. Fei-Fei, S. Savarese, Y. Zhu, and R. Martín-Martín · 2022
Cited alongside, same era.
Equivariant Diffusion for Molecule Generation in 3D
E. Hoogeboom, V. G. Satorras, C. Vignac, and M. Welling · 2022
Cited alongside, same era.
SO ( 2 ) \mathrm{SO}(2) -Equivariant Reinforcement Learning
D. Wang, R. Walters, and R. Platt · 2022
Cited alongside, same era.
Planning with Diffusion for Flexible Behavior Synthesis
M. Janner, Y. Du, J. Tenenbaum, and S. Levine · 2022
MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations
A. Mandlekar, S. Nasiriany, B. Wen, I. Akinola, Y. Narang, L. Fan, Y. Zhu, and D. Fox · 2023
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AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners
Z. Liang, Y. Mu, M. Ding, F. Ni, M. Tomizuka, and P. Luo · 2023
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ChainedDiffuser: Unifying Trajectory Diffusion and Keypose Prediction for Robotic Manipulation
Z. Xian, N. Gkanatsios, T. Gervet, T.-W. Ke, and K. Fragkiadaki · 2023
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Leveraging Symmetries in Pick and Place
H. Huang, D. Wang, A. Tangri, R. Walters, and R. Platt · 2023
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SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
A. Simeonov, Y. Du, Y.-C. Lin, A. R. Garcia, L. P. Kaelbling, T. Lozano-Pérez, and P. Agrawal · 2023
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Cited alongside, same era.
Imitating Human Behaviour with Diffusion Models
T. Pearce, T. Rashid, A. Kanervisto, D. Bignell, M. Sun, R. Georgescu, S. V. Macua, S. Z. Tan, I. Momennejad, K. Hofmann, et al · 2022
Cited alongside, same era.
Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning
Z. Wang, J. J. Hunt, and M. Zhou · 2022
Cited alongside, same era.
GeoDiff: A Geometric Diffusion Model for Molecular Conformation Generation
M. Xu, L. Yu, Y. Song, C. Shi, S. Ermon, and J. Tang · 2022
Cited alongside, same era.
Sample Efficient Grasp Learning Using Equivariant Models
X. Zhu, D. Wang, O. Biza, G. Su, R. Walters, and R. Platt · 2022
Cited alongside, same era.
On-Robot Learning With Equivariant Models
D. Wang, M. Jia, X. Zhu, R. Walters, and R. Platt · 2022
Cited alongside, same era.
Equivariant Transporter Network
H. Huang, D. Wang, R. Walters, and R. Platt · 2022
Cited alongside, same era.
C. Pan, B. Okorn, H. Zhang, B. Eisner, and D. Held · 2023
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Edge Grasp Network: A Graph-Based SE ( 3 ) \mathrm{SE}(3) -invariant Approach to Grasp Detection
H. Huang, D. Wang, X. Zhu, R. Walters, and R. Platt · 2023
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Continual Vision-based Reinforcement Learning with Group Symmetries
S. Liu, M. Xu, P. Huang, X. Zhang, Y. Liu, K. Oguchi, and D. Zhao · 2023
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Se (2)-equivariant pushing dynamics models for tabletop object manipulations
S. Kim, B. Lim, Y. Lee, and F. C. Park · 2023
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Symmetric models for visual force policy learning
C. Kohler, A. S. Srikanth, E. Arora, and R. Platt · 2023
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Equivariant reinforcement learning under partial observability
H. H. Nguyen, A. Baisero, D. Klee, D. Wang, R. Platt, and C. Amato · 2023
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On robot grasp learning using equivariant models
X. Zhu, D. Wang, G. Su, O. Biza, R. Walters, and R. Platt · 2023
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Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning
H. Ryu, H. in Lee, J.-H. Lee, and J. Choi · 2023
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Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry
D. Wang, J. Y. Park, N. Sortur, L. L. Wong, R. Walters, and R. Platt · 2023
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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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H. Nguyen, T. Kozuno, C. C. Beltran-Hernandez, and M. Hamaya · 2024
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Deep SE(3)-equivariant geometric reasoning for precise placement tasks
B. Eisner, Y. Yang, T. Davchev, M. Vecerik, J. Scholz, and D. Held · 2024
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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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A general theory of correct, incorrect, and extrinsic equivariance
D. Wang, X. Zhu, J. Y. Park, M. Jia, G. Su, R. Platt, and R. Walters · 2024
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