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Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion.
Learning complex dexterous manipulation with deep reinforcement learning and demonstrations
A. Rajeswaran, V. Kumar, A. Gupta, G. Vezzani, J. Schulman, E. Todorov, and S. Levine · 2017
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Learning agile robotic locomotion skills by imitating animals
X. B. Peng, E. Coumans, T. Zhang, T.-W. Lee, J. Tan, and S. Levine · 2020
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Denoising diffusion probabilistic models
J. Ho, A. Jain, and P. Abbeel · 2020
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Denoising diffusion implicit models
J. Song, C. Meng, and S. Ermon · 2020
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Meta-world: A benchmark and evaluation for multi-task and meta reinforcement learning
T. Yu, D. Quillen, Z. He, R. Julian, K. Hausman, C. Finn, and S. Levine · 2020
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Planning with diffusion for flexible behavior synthesis
M. Janner, Y. Du, J. B. Tenenbaum, and S. Levine · 2022
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High-resolution image synthesis with latent diffusion models
R. Rombach, A. Blattmann, D. Lorenz, P. Esser, and B. Ommer · 2022
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Perceiver-actor: A multi-task transformer for robotic manipulation
M. Shridhar, L. Manuelli, and D. Fox · 2023
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Mimicplay: Long-horizon imitation learning by watching human play
C. Wang, L. Fan, J. Sun, R. Zhang, L. Fei-Fei, D. Xu, Y. Zhu, and A. Anandkumar · 2023
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Gnfactor: Multi-task real robot learning with generalizable neural feature fields
Y. Ze, G. Yan, Y.-H. Wu, A. Macaluso, Y. Ge, J. Ye, N. Hansen, L. E. Li, and X. Wang · 2023
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A. Agarwal, S. Uppal, K. Shaw, and D. Pathak · 2023
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Teach a robot to fish: Versatile imitation from one minute of demonstrations
S. Haldar, J. Pari, A. Rai, and L. Pinto · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, S. Feng, Y. Du, Z. Xu, E. Cousineau, B. Burchfiel, and S. Song · 2023
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Motion planning diffusion: Learning and planning of robot motions with diffusion models
J. Carvalho, A. T. Le, M. Baierl, D. Koert, and J. Peters · 2023
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Diffusion-based generation, optimization, and planning in 3d scenes
S. Huang, Z. Wang, P. Li, B. Jia, T. Liu, Y. Zhu, W. Liang, and S.-C. Zhu · 2023
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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 · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
H. Ha, P. Florence, and S. Song · 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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Memory-consistent neural networks for imitation learning
K. Sridhar, S. Dutta, D. Jayaraman, J. Weimer, and I. Lee · 2023
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Pixart- α \alpha : Fast training of diffusion transformer for photorealistic text-to-image synthesis
Aloha unleashed: A simple recipe for robot dexterity
T. Z. Zhao, J. Tompson, D. Driess, P. Florence, K. Ghasemipour, C. Finn, and A. Wahid · 2024
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Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
C. Chi, Z. Xu, C. Pan, E. Cousineau, B. Burchfiel, S. Feng, R. Tedrake, and S. Song · 2024
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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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In-context imitation learning via next-token prediction
L. Fu, H. Huang, G. Datta, L. Y. Chen, W. C.-H. Panitch, F. Liu, H. Li, and K. Goldberg · 2024
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Carp: Visuomotor policy learning via coarse-to-fine autoregressive prediction
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J. Chen, J. Yu, C. Ge, L. Yao, E. Xie, Y. Wu, Z. Wang, J. Kwok, P. Luo, H. Lu, et al · 2023
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Scalable diffusion models with transformers
W. Peebles and S. Xie · 2023
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Vdt: General-purpose video diffusion transformers via mask modeling
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C. Bao, H. Xu, Y. Qin, and X. Wang · 2023
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Potential based diffusion motion planning
Y. Luo, C. Sun, J. B. Tenenbaum, and Y. Du · 2024
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Edmp: Ensemble-of-costs-guided diffusion for motion planning
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Minedreamer: Learning to follow instructions via chain-of-imagination for simulated-world control
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Worldsimbench: Towards video generation models as world simulators
Y. Qin, Z. Shi, J. Yu, X. Wang, E. Zhou, L. Li, Z. Yin, X. Liu, L. Sheng, J. Shao, et al · 2024
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Diffusion forcing: Next-token prediction meets full-sequence diffusion
B. Chen, D. Martí Monsó, Y. Du, M. Simchowitz, R. Tedrake, and V. Sitzmann · 2024
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From slow bidirectional to fast causal video generators
T. Yin, Q. Zhang, R. Zhang, W. T. Freeman, F. Durand, E. Shechtman, and X. Huang · 2024
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Latte: Latent diffusion transformer for video generation
X. Ma, Y. Wang, G. Jia, X. Chen, Z. Liu, Y.-F. Li, C. Chen, and Y. Qiao · 2024
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Consisti2v: Enhancing visual consistency for image-to-video generation
W. Ren, H. Yang, G. Zhang, C. Wei, X. Du, W. Huang, and W. Chen · 2024
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Ca2-vdm: Efficient autoregressive video diffusion model with causal generation and cache sharing
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