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Diffusion Policies have become widely used in Imitation Learning, offering several appealing properties, such as generating multimodal and discontinuous behavior.
Alvinn: An autonomous land vehicle in a neural network
Dean Pomerleau · 1989
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A connection between score matching and denoising autoencoders
Pascal Vincent · 2011
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Choosing smartly: Adaptive multimodal fusion for object detection in changing environments
Oier Mees, Andreas Eitel, and Wolfram Burgard · 2016
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Combining self-supervised learning and imitation for vision-based rope manipulation
Ashvin Nair, Dian Chen, Pulkit Agrawal, Phillip Isola, Pieter Abbeel, Jitendra Malik, and Sergey Levine · 2017
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Outrageously large neural networks: The sparsely-gated mixture-of-experts layer, 2017
Noam Shazeer, Azalia Mirhoseini, Krzysztof Maziarz, Andy Davis, Quoc Le, Geoffrey Hinton, and Jeff Dean · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Film: Visual reasoning with a general conditioning layer
Ethan Perez, Florian Strub, Harm De Vries, Vincent Dumoulin, and Aaron Courville · 2018
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Learning latent plans from play, 2019
Corey Lynch, Mohi Khansari, Ted Xiao, Vikash Kumar, Jonathan Tompson, Sergey Levine, and Pierre Sermanet · 2019
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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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Score-based generative modeling through stochastic differential equations
Yang Song, Jascha Sohl-Dickstein, Diederik P Kingma, Abhishek Kumar, Stefano Ermon, and Ben Poole · 2020
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Hussein Hazimeh, Zhe Zhao, Aakanksha Chowdhery, Maheswaran Sathiamoorthy, Yihua Chen, Rahul Mazumder, Lichan Hong, and Ed H. Chi · 2021
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Base layers: Simplifying training of large, sparse models, 2021
Mike Lewis, Shruti Bhosale, Tim Dettmers, Naman Goyal, and Luke Zettlemoyer · 2021
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The surprising effectiveness of representation learning for visual imitation, 2021
Jyothish Pari, Nur Muhammad Shafiullah, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2021
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Scaling vision with sparse mixture of experts, 2021
Carlos Riquelme, Joan Puigcerver, Basil Mustafa, Maxim Neumann, Rodolphe Jenatton, André Susano Pinto, Daniel Keysers, and Neil Houlsby · 2021
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Hash layers for large sparse models
Stephen Roller, Sainbayar Sukhbaatar, Arthur Szlam, and Jason Weston · 2021
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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 2021
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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 2022
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Rt-1: Robotics transformer for real-world control at scale
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Joseph Dabis, Chelsea Finn, Keerthana Gopalakrishnan, Karol Hausman, Alex Herzog, Jasmine Hsu, Julian Ibarz, Brian Ichter, Alex Irpan, Tomas Jackson, Sally Jesmonth, Nikhil Joshi, Ryan Julian, Dmitry Kalashnikov, Yuheng Kuang, Isabel Leal, Kuang-Huei Lee, Sergey Levine, Yao Lu, Utsav Malla, Deeksha Manjunath, Igor Mordatch, Ofir Nachum, Carolina Parada, Jodilyn Peralta, Emily Perez, Karl Pertsch, Jornell Quiambao, Kanishka Rao, Michael Ryoo, Grecia Salazar, Pannag Sanketi, Kevin Sayed, Jaspiar Singh, Sumedh Sontakke, Austin Stone, Clayton Tan, Huong Tran, Vincent Vanhoucke, Steve Vega, Quan Vuong, Fei Xia, Ted Xiao, Peng Xu, Sichun Xu, Tianhe Yu, and Brianna Zitkovich · 2022
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Specializing versatile skill libraries using local mixture of experts
Onur Celik, Dongzhuoran Zhou, Ge Li, Philipp Becker, and Gerhard Neumann · 2022
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On the representation collapse of sparse mixture of experts
Zewen Chi, Li Dong, Shaohan Huang, Damai Dai, Shuming Ma, Barun Patra, Saksham Singhal, Payal Bajaj, Xia Song, Xian-Ling Mao, Heyan Huang, and Furu Wei · 2022
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Glam: Efficient scaling of language models with mixture-of-experts, 2022
Nan Du, Yanping Huang, Andrew M. Dai, Simon Tong, Dmitry Lepikhin, Yuanzhong Xu, Maxim Krikun, Yanqi Zhou, Adams Wei Yu, Orhan Firat, Barret Zoph, Liam Fedus, Maarten Bosma, Zongwei Zhou, Tao Wang, Yu Emma Wang, Kellie Webster, Marie Pellat, Kevin Robinson, Kathleen Meier-Hellstern, Toju Duke, Lucas Dixon, Kun Zhang, Quoc V Le, Yonghui Wu, Zhifeng Chen, and Claire Cui · 2022
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Switch transformers: Scaling to trillion parameter models with simple and efficient sparsity
William Fedus, Barret Zoph, and Noam Shazeer · 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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Elucidating the design space of diffusion-based generative models
Tero Karras, Miika Aittala, Timo Aila, and Samuli Laine · 2022
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The Surprising Effectiveness of Representation Learning for Visual Imitation
Jyothish Pari, Nur Muhammad (Mahi) Shafiullah, Sridhar Pandian Arunachalam, and Lerrel Pinto · 2022
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Behavior transformers: Cloning k k modes with one stone
Nur Muhammad Mahi Shafiullah, Zichen Jeff Cui, Ariuntuya Altanzaya, and Lerrel Pinto · 2022
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Mixture-of-experts with expert choice routing, 2022
Yanqi Zhou, Tao Lei, Hanxiao Liu, Nan Du, Yanping Huang, Vincent Zhao, Andrew Dai, Zhifeng Chen, Quoc Le, and James Laudon · 2022
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Roboagent: Generalization and efficiency in robot manipulation via semantic augmentations and action chunking, 2023
Homanga Bharadhwaj, Jay Vakil, Mohit Sharma, Abhinav Gupta, Shubham Tulsiani, and Vikash Kumar · 2023
Cited alongside, same era.
Movement primitive diffusion: Learning gentle robotic manipulation of deformable objects
Paul Maria Scheikl, Nicolas Schreiber, Christoph Haas, Niklas Freymuth, Gerhard Neumann, Rudolf Lioutikov, and Franziska Mathis-Ullrich · 2023
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Llama: Open and efficient foundation language models
Hugo Touvron, Thibaut Lavril, Gautier Izacard, Xavier Martinet, Marie-Anne Lachaux, Timothée Lacroix, Baptiste Rozière, Naman Goyal, Eric Hambro, Faisal Azhar, et al · 2023
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Se (3)-diffusionfields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
Julen Urain, Niklas Funk, Jan Peters, and Georgia Chalvatzaki · 2023
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Bridgedata v2: A dataset for robot learning at scale
Homer Rich Walke, Kevin Black, Tony Z Zhao, Quan Vuong, Chongyi Zheng, Philippe Hansen-Estruch, Andre Wang He, Vivek Myers, Moo Jin Kim, Max Du, et al · 2023
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Kevin Black, Mitsuhiko Nakamoto, Pranav Atreya, Homer Walke, Chelsea Finn, Aviral Kumar, and Sergey Levine · 2023
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Information maximizing curriculum: A curriculum-based approach for learning versatile skills
Denis Blessing, Onur Celik, Xiaogang Jia, Moritz Reuss, Maximilian Xiling Li, Rudolf Lioutikov, and Gerhard Neumann · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Instructpix2pix: Learning to follow image editing instructions
Tim Brooks, Aleksander Holynski, and Alexei A. Efros · 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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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Open X-Embodiment: Robotic learning datasets and RT-X models
Open X-Embodiment Collaboration, Abhishek Padalkar, Acorn Pooley, Ajinkya Jain, Alex Bewley, Alex Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anikait Singh, Anthony Brohan, Antonin Raffin, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Brian Ichter, Cewu Lu, Charles Xu, Chelsea Finn, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Chuer Pan, Chuyuan Fu, Coline Devin, Danny Driess, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns, Federico Ceola, Fei Xia, Freek Stulp, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Giulio Schiavi, Hao Su, Hao-Shu Fang, Haochen Shi, Heni Ben Amor, Henrik I Christensen, Hiroki Furuta, Homer Walke, Hongjie Fang, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jaehyung Kim, Jan Schneider, Jasmine Hsu, Jeannette Bohg, Jeffrey Bingham, Jiajun Wu, Jialin Wu, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jitendra Malik, Jonathan Tompson, Jonathan Yang, Joseph J. Lim, João Silvério, Junhyek Han, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Zhang, Keyvan Majd, Krishan Rana, Krishnan Srinivasan, Lawrence Yunliang Chen, Lerrel Pinto, Liam Tan, Lionel Ott, Lisa Lee, Masayoshi Tomizuka, Maximilian Du, Michael Ahn, Mingtong Zhang, Mingyu Ding, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J Joshi, Niko Suenderhauf, Norman Di Palo, Nur Muhammad Mahi Shafiullah, Oier Mees, Oliver Kroemer, Pannag R Sanketi, Paul Wohlhart, Peng Xu, Pierre Sermanet, Priya Sundaresan, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Martín-Martín, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante, Sean Kirmani, Sergey Levine, Sherry Moore, Shikhar Bahl, Shivin Dass, Shuran Song, Sichun Xu, Siddhant Haldar, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Sudeep Dasari, Suneel Belkhale, Takayuki Osa, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Vidhi Jain, Vincent Vanhoucke, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiaolong Wang, Xinghao Zhu, Xuanlin Li, Yao Lu, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yueh hua Wu, Yujin Tang, Yuke Zhu, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zhuo Xu, and Zichen Jeff Cui · 2023
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Tsun-Hsuan Wang, Juntian Zheng, Pingchuan Ma, Yilun Du, Byungchul Kim, Andrew Everett Spielberg, Joshua B. Tenenbaum, Chuang Gan, and Daniela Rus · 2023
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Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
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RT-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, Quan Vuong, Vincent Vanhoucke, Huong Tran, Radu Soricut, Anikait Singh, Jaspiar Singh, Pierre Sermanet, Pannag R Sanketi, Grecia Salazar, Michael S Ryoo, Krista Reymann, Kanishka Rao, Karl Pertsch, Igor Mordatch, Henryk Michalewski, Yao Lu, Sergey Levine, Lisa Lee, Tsang-Wei Edward Lee, Isabel Leal, Yuheng Kuang, Dmitry Kalashnikov, Ryan Julian, Nikhil J Joshi, Alex Irpan, brian ichter, Jasmine Hsu, Alexander Herzog, Karol Hausman, Keerthana Gopalakrishnan, Chuyuan Fu, Pete Florence, Chelsea Finn, Kumar Avinava Dubey, Danny Driess, Tianli Ding, Krzysztof Marcin Choromanski, Xi Chen, Yevgen Chebotar, Justice Carbajal, Noah Brown, Anthony Brohan, Montserrat Gonzalez Arenas, and Kehang Han · 2023
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Acquiring diverse skills using curriculum reinforcement learning with mixture of experts
Onur Celik, Aleksandar Taranovic, and Gerhard Neumann · 2024
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Mobile aloha: Learning bimanual mobile manipulation with low-cost whole-body teleoperation
Zipeng Fu, Tony Z Zhao, and Chelsea Finn · 2024
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Rt-trajectory: Robotic task generalization via hindsight trajectory sketches
Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, and Ted Xiao · 2024
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Efficient diffusion training via min-snr weighting strategy, 2024
Tiankai Hang, Shuyang Gu, Chen Li, Jianmin Bao, Dong Chen, Han Hu, Xin Geng, and Baining Guo · 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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Albert Q Jiang, Alexandre Sablayrolles, Antoine Roux, Arthur Mensch, Blanche Savary, Chris Bamford, Devendra Singh Chaplot, Diego de las Casas, Emma Bou Hanna, Florian Bressand, et al · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
Tsung-Wei Ke, Nikolaos Gkanatsios, and Katerina Fragkiadaki · 2024
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Openvla: An open-source vision-language-action model
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Quest: Self-supervised skill abstractions for learning continuous control
Atharva Mete, Haotian Xue, Albert Wilcox, Yongxin Chen, and Animesh Garg · 2024
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Olmoe: Open mixture-of-experts language models
Niklas Muennighoff, Luca Soldaini, Dirk Groeneveld, Kyle Lo, Jacob Morrison, Sewon Min, Weijia Shi, Pete Walsh, Oyvind Tafjord, Nathan Lambert, et al · 2024
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Mixtures of experts unlock parameter scaling for deep rl
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Switch diffusion transformer: Synergizing denoising tasks with sparse mixture-of-experts
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Multimodal diffusion transformer: Learning versatile behavior from multimodal goals
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Sparse diffusion policy: A sparse, reusable, and flexible policy for robot learning
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Unleashing large-scale video generative pre-training for visual robot manipulation
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