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Diffusion policies are widely adopted in complex visuomotor tasks for their ability to capture multimodal action distributions.
Tweedie’s formula and selection bias
Efron, B · 2011
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Reinforcement learning: An introduction
Sutton, R. S. and Barto, A. G · 2018
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Relay policy learning: Solving long-horizon tasks via imitation and reinforcement learning
Gupta, A., Kumar, V., Lynch, C., Levine, S., and Hausman, K · 2020
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Denoising diffusion probabilistic models
Ho, J., Jain, A., and Abbeel, P · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
Yu, T., Quillen, D., He, Z., Julian, R., Hausman, K., Finn, C., and Levine, S · 2020
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Noise2score: tweedie’s approach to self-supervised image denoising without clean images
Kim, K. and Ye, J. C · 2021
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Implicit behavioral cloning
Florence, P., Lynch, C., Zeng, A., Ramirez, O. A., Wahid, A., Downs, L., Wong, A., Lee, J., Mordatch, I., and Tompson, J · 2022
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Planning with diffusion for flexible behavior synthesis
Janner, M., Du, Y., Tenenbaum, J., and Levine, S · 2022
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Elucidating the design space of diffusion-based generative models
Karras, T., Aittala, M., Aila, T., and Laine, S · 2022
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Dpm-solver: A fast ode solver for diffusion probabilistic model sampling in around 10 steps
Lu, C., Zhou, Y., Bao, F., Chen, J., Li, C., and Zhu, J · 2022
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What matters in learning from offline human demonstrations for robot manipulation
Mandlekar, A., Xu, D., Wong, J., Nasiriany, S., Wang, C., Kulkarni, R., Fei-Fei, L., Savarese, S., Zhu, Y., and Martín-Martín, R · 2022
Cited alongside, same era.
Behavior transformers: Cloning k k modes with one stone
Shafiullah, N. M., Cui, Z., Altanzaya, A. A., and Pinto, L · 2022
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Chi, C., Xu, Z., Feng, S., Cousineau, E., Du, Y., Burchfiel, B., Tedrake, R., and Song, S · 2023
Cited alongside, same era.
Maniskill2: A unified benchmark for generalizable manipulation skills
Gu, J., Xiang, F., Li, X., Ling, Z., Liu, X., Mu, T., Tang, Y., Tao, S., Wei, X., Yao, Y., Yuan, X., Xie, P., Huang, Z., Chen, R., and Su, H · 2023
Cited alongside, same era.
Idql: Implicit q-learning as an actor-critic method with diffusion policies
Hansen-Estruch, P., Kostrikov, I., Janner, M., Kuba, J. G., and Levine, S · 2023
Cited alongside, same era.
Jia, B., Ding, P., Cui, C., Sun, M., Qian, P., Fan, Z., and Wang, D · 2024
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Rdt-1b: a diffusion foundation model for bimanual manipulation
Liu, S., Wu, L., Li, B., Tan, H., Chen, H., Wang, Z., Xu, K., Su, H., and Zhu, J · 2024
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Manicm: Real-time 3d diffusion policy via consistency model for robotic manipulation
Lu, G., Gao, Z., Chen, T., Dai, W., Wang, Z., and Tang, Y · 2024
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Consistency policy: Accelerated visuomotor policies via consistency distillation
Prasad, A., Lin, K., Wu, J., Zhou, L., and Bohg, J · 2024
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Goal-conditioned imitation learning using score-based diffusion policies
Reuss, M., Li, M., Jia, X., and Lioutikov, R · 2023
Cited alongside, same era.
Consistency models
Song, Y., Dhariwal, P., Chen, M., and Sutskever, I · 2023
Cited alongside, same era.
Policy representation via diffusion probability model for reinforcement learning
Yang, L., Huang, Z., Lei, F., Zhong, Y., Yang, Y., Fang, C., Wen, S., Zhou, B., and Lin, Z · 2023
Cited alongside, same era.
Streaming diffusion policy: Fast policy synthesis with variable noise diffusion models
Høeg, S. H., Du, Y., and Egeland, O · 2024
Cited alongside, same era.
Score regularized policy optimization through diffusion behavior
Chen, H., Lu, C., Wang, Z., Su, H., and Zhu, J
Cited in the paper.
Diffusion model-augmented behavioral cloning
Chen, S.-F., Wang, H.-C., Hsu, M.-H., Lai, C.-M., and Sun, S.-H
Cited in the paper.
Diffusion posterior sampling for general noisy inverse problems
Chung, H., Kim, J., Mccann, M. T., Klasky, M. L., and Ye, J. C
Cited in the paper.
Ravan, Y., Yang, Z., Chen, T., Lozano-Pérez, T., and Kaelbling, L. P · 2024
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Parallel sampling of diffusion models
Shih, A., Belkhale, S., Ermon, S., Sadigh, D., and Anari, N · 2024
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Octo: An open-source generalist robot policy
Team, O. M., Ghosh, D., Walke, H., Pertsch, K., Black, K., Mees, O., Dasari, S., Hejna, J., Kreiman, T., Xu, C., et al · 2024
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One-step diffusion policy: Fast visuomotor policies via diffusion distillation
Wang, Z., Li, Z., Mandlekar, A., Xu, Z., Fan, J., Narang, Y., Fan, L., Zhu, Y., Balaji, Y., Zhou, M., et al · 2024
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Unipc: A unified predictor-corrector framework for fast sampling of diffusion models
Zhao, W., Bai, L., Rao, Y., Zhou, J., and Lu, J · 2024
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