Diffusion Policy models robot actions as a conditional diffusion process, outperforming prior state-of-the-art methods by 46.9% on average across 12 manipulation tasks from four benchmarks.
Diffusion Policy outperforms LSTM-GMM Mandlekar et al
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Diffusion Policy: Visuomotor Policy Learning via Action Diffusion
Diffusion Policy models robot actions as a conditional diffusion process, outperforming prior state-of-the-art methods by 46.9% on average across 12 manipulation tasks from four benchmarks.