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Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions.
Algorithm 733: TOMP–Fortran modules for optimal control calculations
Dieter Kraft · 1994
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Nonlinear Programming: Theory and Algorithms
Mokhtar S Bazaraa, Hanif D Sherali, and Chitharanjan M Shetty · 2006
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Robot Trajectory Optimization using Approximate Inference
Marc Toussaint · 2009
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Adam: A method for stochastic optimization
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Predictive Control for Linear and Hybrid Systems
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Model Predictive Control: Theory, Computation, and Design , volume 2
James Blake Rawlings, David Q Mayne, Moritz Diehl, et al · 2017
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Denoising Diffusion Probabilistic Models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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SciPy 1.0: Fundamental Algorithms for Scientific Computing in Python
Pauli Virtanen, Ralf Gommers, Travis E. Oliphant, Matt Haberland, Tyler Reddy, David Cournapeau, Evgeni Burovski, Pearu Peterson, Warren Weckesser, Jonathan Bright, Stéfan J. van der Walt, Matthew Brett, Joshua Wilson, K. Jarrod Millman, Nikolay Mayorov, Andrew R. J. Nelson, Eric Jones, Robert Kern, Eric Larson, C J Carey, İlhan Polat, Yu Feng, Eric W. Moore, Jake VanderPlas, Denis Laxalde, Josef Perktold, Robert Cimrman, Ian Henriksen, E. A. Quintero, Charles R. Harris, Anne M. Archibald, Antônio H. Ribeiro, Fabian Pedregosa, Paul van Mulbregt, and SciPy 1.0 Contributors · 2020
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Diffusion Models Beat GANs on Image Synthesis
Prafulla Dhariwal and Alexander Nichol · 2021
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Improved Denoising Diffusion Probabilistic Models
Alexander Quinn Nichol and Prafulla Dhariwal · 2021
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Classifier-Free Diffusion Guidance
Jonathan Ho and Tim Salimans · 2022
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Planning with Diffusion for Flexible Behavior Synthesis
Michael Janner, Yilun Du, Joshua Tenenbaum, and Sergey Levine · 2022
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Is Conditional Generative Modeling all you need for Decision Making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua B Tenenbaum, Tommi S Jaakkola, and Pulkit Agrawal · 2023
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Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models
Joao Carvalho, An T Le, Mark Baierl, Dorothea Koert, and Jan Peters · 2023
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PlayFusion: Skill Acquisition via Diffusion from Language-Annotated Play
Lili Chen, Shikhar Bahl, and Deepak Pathak · 2023
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Goal-Conditioned Imitation Learning using Score-based Diffusion Policies
Moritz Reuss, Maximilian Li, Xiaogang Jia, and Rudolf Lioutikov · 2023
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Physics-Informed Diffusion Models
Jan-Hendrik Bastek, WaiChing Sun, and Dennis M Kochmann · 2024
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Constrained Synthesis with Projected Diffusion Models
Jacob K Christopher, Stephen Baek, and Ferdinando Fioretto · 2024
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DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
Xiaoyu Huang, Yufeng Chi, Ruofeng Wang, Zhongyu Li, Xue Bin Peng, Sophia Shao, Borivoje Nikolic, and Koushil Sreenath · 2024
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Towards Diverse Behaviors: A Benchmark for Imitation Learning with Human Demonstrations
Xiaogang Jia, Denis Blessing, Xinkai Jiang, Moritz Reuss, Atalay Donat, Rudolf Lioutikov, and Gerhard Neumann · 2024
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Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
Cited alongside, same era.
Aligning Optimization Trajectories with Diffusion Models for Constrained Design Generation
Giorgio Giannone, Akash Srivastava, Ole Winther, and Faez Ahmed · 2023
Cited alongside, same era.
Diffusion models beat GANs on topology optimization
François Mazé and Faez Ahmed · 2023
Cited alongside, same era.
Imitating Human Behaviour with Diffusion Models
Tim Pearce, Tabish Rashid, Anssi Kanervisto, Dave Bignell, Mingfei Sun, Raluca Georgescu, Sergio Valcarcel Macua, Shan Zheng Tan, Ida Momennejad, Katja Hofmann, et al · 2023
Cited alongside, same era.
Sampling Constrained Trajectories Using Composable Diffusion Models
Thomas Power, Rana Soltani-Zarrin, Soshi Iba, and Dmitry Berenson · 2023
Cited alongside, same era.
Kota Kondo, Andrea Tagliabue, Xiaoyi Cai, Claudius Tewari, Olivia Garcia, Marcos Espitia-Alvarez, and Jonathan P How · 2024
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Safe Offline Reinforcement Learning using Trajectory-Level Diffusion Models
Ralf Römer, Lukas Brunke, Martin Schuck, and Angela P Schoellig · 2024
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Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations
Julen Urain, Ajay Mandlekar, Yilun Du, Mahi Shafiullah, Danfei Xu, Katerina Fragkiadaki, Georgia Chalvatzaki, and Jan Peters · 2024
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Diffusers: State-of-the-art diffusion models, 2024
Patrick von Platen, Suraj Patil, Anton Lozhkov, Pedro Cuenca, Nathan Lambert, Kashif Rasul, Mishig Davaadorj, Dhruv Nair, Sayak Paul, Steven Liu, William Berman, Yiyi Xu, and Thomas Wolf · 2024
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Diffusion Model Predictive Control
Guangyao Zhou, Sivaramakrishnan Swaminathan, Rajkumar Vasudeva Raju, J Swaroop Guntupalli, Wolfgang Lehrach, Joseph Ortiz, Antoine Dedieu, Miguel Lázaro-Gredilla, and Kevin Murphy · 2024
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