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Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories.
A connection between score matching and denoising autoencoders
Pascal Vincent · 2011
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Mujoco: A physics engine for model-based control
Emanuel Todorov, Tom Erez, and Yuval Tassa · 2012
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Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
Aravind Rajeswaran, Vikash Kumar, Abhishek Gupta, Giulia Vezzani, John Schulman, Emanuel Todorov, and Sergey Levine · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Generative modeling by estimating gradients of the data distribution
Yang Song and Stefano Ermon · 2019
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Sapien: A simulated part-based interactive environment
Fanbo Xiang, Yuzhe Qin, Kaichun Mo, Yikuan Xia, Hao Zhu, Fangchen Liu, Minghua Liu, Hanxiao Jiang, Yifu Yuan, He Wang, et al · 2020
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robosuite: A modular simulation framework and benchmark for robot learning
Yuke Zhu, Josiah Wong, Ajay Mandlekar, Roberto Martín-Martín, Abhishek Joshi, Soroush Nasiriany, and Yifeng Zhu · 2020
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2021
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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2021
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Tianhe Yu, Deirdre Quillen, Zhanpeng He, Ryan Julian, Karol Hausman, Chelsea Finn, and Sergey Levine · 2021
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Elucidating the design space of diffusion-based generative models
Tero Karras, Miika Aittala, Timo Aila, and Samuli Laine · 2022
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Pseudo numerical methods for diffusion models on manifolds
Luping Liu, Yi Ren, Zhijie Lin, and Zhou Zhao · 2022
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Behavior transformers: Cloning
Nur Muhammad Shafiullah, Zichen Cui, Ariuntuya Arty Altanzaya, and Lerrel Pinto · 2022
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Vrl3: A data-driven framework for visual deep reinforcement learning
Che Wang, Xufang Luo, Keith Ross, and Dongsheng Li · 2022
Cited alongside, same era.
Dexart: Benchmarking generalizable dexterous manipulation with articulated objects
Chen Bao, Helin Xu, Yuzhe Qin, and Xiaolong Wang · 2023
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
Cited alongside, same era.
Optimal linear subspace search: Learning to construct fast and high-quality schedulers for diffusion models
Zhongjie Duan, Chengyu Wang, Cen Chen, Jun Huang, and Weining Qian · 2023
Cited alongside, same era.
Consistency trajectory models: Learning probability flow ode trajectory of diffusion
Dongjun Kim, Chieh-Hsin Lai, Wei-Hsiang Liao, Naoki Murata, Yuhta Takida, Toshimitsu Uesaka, Yutong He, Yuki Mitsufuji, and Stefano Ermon · 2023
Cited alongside, same era.
Hierarchical diffusion policy for kinematics-aware multi-task robotic manipulation
Xiao Ma, Sumit Patidar, Iain Haughton, and Stephen James · 2024
Closest in time.
Consistency policy: Accelerated visuomotor policies via consistency distillation
Aaditya Prasad, Kevin Lin, Jimmy Wu, Linqi Zhou, and Jeannette Bohg · 2024
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Combining planning and diffusion for mobility with unknown dynamics
Yajvan Ravan, Zhutian Yang, Tao Chen, Tomás Lozano-Pérez, and Leslie Pack Kaelbling · 2024
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Diffusion policy policy optimization
Allen Z. Ren, Justin Lidard, Lars L. Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, and Max Simchowitz · 2024
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Flow matching imitation learning for multi-support manipulation
Quentin Rouxel, Andrea Ferrari, Serena Ivaldi, and Jean-Baptiste Mouret · 2024
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Latent consistency models: Synthesizing high-resolution images with few-step inference
Simian Luo, Yiqin Tan, Longbo Huang, Jian Li, and Hang Zhao · 2023
Cited alongside, same era.
Masked world models for visual control
Younggyo Seo, Danijar Hafner, Hao Liu, Fangchen Liu, Stephen James, Kimin Lee, and Pieter Abbeel · 2023
Cited alongside, same era.
Yang Song, Prafulla Dhariwal, Mark Chen, and Ilya Sutskever · 2023
Cited alongside, same era.
Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z. Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
Cited alongside, same era.
Carp: Visuomotor policy learning via coarse-to-fine autoregressive prediction
Zhefei Gong, Pengxiang Ding, Shangke Lyu, Siteng Huang, Mingyang Sun, Wei Zhao, Zhaoxin Fan, and Donglin Wang · 2024
Cited alongside, same era.
Streaming diffusion policy: Fast policy synthesis with variable noise diffusion models
Sigmund H. Høeg, Yilun Du, and Olav Egeland · 2024
Cited alongside, same era.
Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
Cited alongside, same era.
Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Tobias Kreiman, Charles Xu, Jianlan Luo, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
Closest in time.
One-step diffusion policy: Fast visuomotor policies via diffusion distillation
Zhendong Wang, Zhaoshuo Li, Ajay Mandlekar, Zhenjia Xu, Jiaojiao Fan, Yashraj Narang, Linxi Fan, Yuke Zhu, Yogesh Balaji, Mingyuan Zhou, et al · 2024
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Tinyvla: Towards fast, data-efficient vision-language-action models for robotic manipulation
Junjie Wen, Yichen Zhu, Jinming Li, Minjie Zhu, Kun Wu, Zhiyuan Xu, Ning Liu, Ran Cheng, Chaomin Shen, Yaxin Peng, Feifei Feng, and Jian Tang · 2024
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Dnact: Diffusion guided multi-task 3d policy learning
Ge Yan, Yueh-Hua Wu, and Xiaolong Wang · 2024
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Equibot: Sim (3)-equivariant diffusion policy for generalizable and data efficient learning
Jingyun Yang, Zi-ang Cao, Congyue Deng, Rika Antonova, Shuran Song, and Jeannette Bohg · 2024
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Qinglun Zhang, Zhen Liu, Haoqiang Fan, Guanghui Liu, Bing Zeng, and Shuaicheng Liu · 2024
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Unipc: A unified predictor-corrector framework for fast sampling of diffusion models
Wenliang Zhao, Lujia Bai, Yongming Rao, Jie Zhou, and Jiwen Lu · 2024
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Quar-vla: Vision-language-action model for quadruped robots
Pengxiang Ding, Han Zhao, Wenjie Zhang, Wenxuan Song, Min Zhang, Siteng Huang, Ningxi Yang, and Donglin Wang · 2025
Closest in time.