Diffusion Policy

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22 papers in the last four weeks, up 450% on the four weeks before. 0.2% of all new papers.

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  1. Control-Ready Uncertainty for Trajectory Diffusion

    Oct 8, 2026Zhiwei Xue, Jia Yue Kam, Jinhang Qiu +5Uncertainty CalibrationTrajectory Prediction

    National University of Singapore. · LAAS-CNRS. · Smart Systems Institute, NUS.

  2. SkillWeave: Weaving Heterogeneous Demonstrations into Long-Horizon Manipulation Skills

    Oct 8, 2026Ryosei Tamura, Xiaoxiang Dong, Uksang Yoo +4Robotic ManipulationLong-Horizon Robotic Manipulation

    Robotics Institute, Carnegie Mellon University, USA. · Department of Computer Science, Keio University, Japan. · College of Engineering, University of California, Berkeley, USA. +1

  3. Immiscible Diffusion Policy: Preserving Multimodal Robot Actions through Label-Free Noise Assignment

    Oct 7, 2026Xiao Zhang, Yuxin Chen, Zhixuan Liang +5Diffusion PolicyMode Collapse

    University of California, Berkeley · Princeton University · The University of Texas at Austin

  4. PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation

    Oct 6, 2026Kun Song, Yiming Wang, Yilin Chen +5Robot Policy AdaptationRobotic RL

    The University of Hong Kong · Shanghai Jiao Tong University · Xense Robotics +1

  5. Reachability-Aware Diffusion Policy Optimization

    Oct 5, 2026Hikmet Simsir, Kutay Demiray, Ozgur S. OguzConstrained RLDiffusion Policy

    Department of Computer Engineering, Bilkent University

  6. The Unexpired Plan: A Free Monitor for Accelerated Diffusion Policies

    Oct 5, 2026Yi Zhao, Sebastian SchererRoboticsDiffusion Policy

    AirLab, The Robotics Institute Carnegie Mellon University, Pittsburgh, PA, USA

  7. Diffusion-2BC: Hybrid Diffusion and Regression Training for Offline Behavior Cloning in Autonomous Driving

    Sep 29, 2026Bruno Maciel Machado, Eric Aislan AntoneloEnd-to-End Autonomous DrivingDiffusion Policy

    Department of Automation and Systems Engineering, Graduate Program in Automation and Systems Engineering, Federal University of Santa Catarina, Florianópolis, Santa Catarina, Brazil

  8. DROM: A Language-Guided Diffusion Framework for Multi-Skill Robotic Manipulation

    Sep 29, 2026Vincenzo Pomponi, Rocco Felici, Paolo Franceschi +5Long-Horizon Robotic ManipulationRobot Skill Learning

    Institute of Systems and Technologies for Sustainable Production (ISTePS), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Istituto Dalle Molle di studi sull’intelligenza artificiale (IDSIA), Department of Innovative Technologies, University of Applied Science and Arts of Southern Switzerland (SUPSI), Via la Santa 1, Lugano, CH-6900, Ticino, Switzerland. · Mechanical Department, Politecnico di Milano (PoliMi), Via Giuseppe Candiani, Milan, 20155, Italy. +1

  9. EquivDP3: A SIM(3)-Invariant Point-Cloud Encoder for Data-Efficient Humanoid Loco-Manipulation

    Sep 29, 2026Abu Hanif Muhammad Syarubany, Chang D. YooHumanoid Loco-ManipulationPoint Cloud Learning

    School of Electrical Engineering Korea Advanced Institute of Science & Technology (KAIST) Daejeon, Republic of Korea

  10. TLC-DiT: Task-Aligned Local Visual Conditioning for Robust Multitask Robot Manipulation

    Sep 28, 2026Xianbo Cai, Hideyuki Ichiwara, Zihang Wang +2Language-Conditioned Robot ManipulationMulti-Task Robotic Manipulation

    Department of Intermedia Art and Science, Waseda University, Tokyo, Japan · SB Intuitions Corp., Tokyo, Japan · Department of Electronic and Physical Systems, Waseda University, Tokyo, Japan +2

  11. Principal Steering Subspaces for Online Adaptation of Frozen Generative Robot Policies

    Sep 27, 2026Jialeng Ni, Nathan Zhao, Kunpeng SongRobot Policy LearningReinforcement Learning

    University of Michigan, Ann Arbor, MI, USA. · XPENG Robotics, Santa Clara, CA, USA.

  12. Safe Score Matching: Diffusion Policies with Hamilton-Jacobi Reachability for Online Safe Reinforcement Learning

    Sep 27, 2026Boyang Li, Matthew Kim, Sylvia Lee HerbertScore MatchingConstrained RL

    University of California San Diego

  13. Residual Denoising Enables Sample-Efficient Multi-Agent Coordination on Demand

    Sep 26, 2026Dayi Dong, Maulik Bhatt, Aayushi Shrivastava +2Multi-Agent CoordinationRobot Policy Adaptation

    Department of Mechanical Engineering, University of California Berkeley, Berkeley, CA 94709, USA

  14. JAMB: Joint Action-Motion Diffusion for Bimanual Manipulation

    Sep 21, 2026Chuyang Xiao, Peilin Meng, David Held3D Point TrackingBimanual Robotic Manipulation

    Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA. · University of Michigan, Ann Arbor, MI 48109, USA.

  15. PredActor: Predictive Action Diffusion for Steerable Onboard Humanoid Control

    Sep 21, 2026Lei Ye, Haibo Gao, Yitang Li +10Diffusion GuidanceHumanoid Robot Control

    Harbin Institute of Technology · Shanghai Innovation Institute · RoboParty Lab +2

  16. Performance-Preserving Online Adaptation in Social Navigation via Diffusion Steering

    Sep 21, 2026Haruto Nagahisa, Kohei Matsumoto, Yuki Hyodo +1Robot Policy AdaptationReinforcement Learning

    Graduate School of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan · Faculty of Information Science and Electrical Engineering, Kyushu University, Fukuoka, Japan

  17. ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

    Sep 20, 2026Chengyi Xing, Shaoxiong Yao, Diego Romeres +1Contact-Rich Robotic ManipulationDiffusion Policy

    Mitsubishi Electric Research Labs, Cambridge, MA, US

  18. Learning Foresight without Explicit Trajectories for 3D Diffusion Policies

    Sep 17, 2026Zhongbo Zhang, Zaibin Zhang, Yifan Wang +3Robot Policy LearningDiffusion Policy

    Dalian University of Technology

  19. Fetch My Beer: Synthetic-to-real Hierarchical Policy for Smooth Pick-and-place

    Sep 16, 2026Yingyue Li, Chenyangguang Zhang, Ruida Zhang +3Robot Policy LearningHierarchical RL

    Department of Automation, Tsinghua University, Beijing, China · ETH Zurich, Zurich, Switzerland · Beijing Xiaomi Robot Technology Co., Ltd, Beijing, China +1

  20. A Comprehensive Review of Generative Physical Artificial Intelligence

    Sep 16, 2026Satyam Gaba, Krutiksinh Rana, Siva Sai +2Robot Foundation ModelsDiffusion Policy

    Qualcomm Research, San Diego, USA · University of the Cumberlands, KY, USA · Department of Electronics and Instrumentation, BITS-Pilani, Goa Campus, India +3

  21. Dissecting Motion-Prior Regularization for Data-Scarce Robotic Insertion

    Sep 15, 2026Ning Hu, Shuai Li, Jindong TanTrajectory OptimizationContact-Rich Robotic Manipulation

    Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA · Engineering School of Sustainable Infrastructure and Environment, University of Florida, Gainesville, FL 32611, USA

  22. SWIM: Vision-Language-Grounded Soft Whole-Body Interactive Manipulation

    Sep 15, 2026Tingcong Liu, Aye Phyu Phyu Aung, Junjie Xiong +4Language-Conditioned Robot ManipulationWhole-Body Robotic Manipulation

    Nanyang Technological University, Singapore · Institute of Advanced Intelligence and Computing, A*STAR, Singapore · Mohamed bin Zayed University of Artificial Intelligence, Abu Dhabi, United Arab Emirates +1

  23. LieSpline-DP: Lie-Group B-Spline Diffusion Policy for Smooth Robot Manipulation

    Sep 14, 2026Erxuan Xie, Bang Liu, Pingyun Nie +3Trajectory GenerationDiffusion Policy

    Shanghai Jiao Tong University

  24. Steering Generative Robot Policies with Lexicographic Preferences

    Sep 14, 2026Yixuan Jia, Jonathan P. HowDiffusion PolicyRobotic Manipulation

    Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA 02319 USA

  25. Online Material Estimation for Conditioned Diffusion Policy in Shaping Deformable Linear Objects

    Sep 14, 2026Ryunosuke Yamada, Tomohiro Motoda, Yukiyasu Domae +1Deformable Object ManipulationDiffusion Policy

    Graduate School of Natural Science and Technology, Kanazawa University, Kanazawa 920-1192, Japan · National Institute of Advanced Industrial Science and Technology (AIST), Tokyo 135-0064, Japan · Faculty of Frontier Engineering, Institute of Science and Engineering, Kanazawa University, Kanazawa 920-1192, Japan

  26. LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulation

    Sep 11, 2026Chuhan Meng, Haiyan YinMulti-Agent CoordinationSynthetic Data Generation for Robotics

    University of Toronto, Toronto, ON, Canada · A*STAR Centre for Frontier AI Research (A*STAR CFAR), Agency for Science, Technology and Research (A*STAR), Singapore

  27. DIA: Denoising Intermediate Advantage for Diffusion Policy Optimization

    Sep 10, 2026Arjun Sohal, Yuchi Zhao, Miroslav Bogdanovic +1RL for RoboticsStep-Level Credit Assignment in RL

    University of Toronto, Toronto, ON, Canada · Vector Institute for Artificial Intelligence, Toronto, ON, Canada · Acceleration Consortium, University of Toronto, Toronto, ON, Canada +2

  28. RodForesight: A World Model Enhanced Diffusion Policy for Slender Rod Insertion

    Sep 10, 2026Chuanbo Yu, Mingyu Yue, Yan Lyu +2World Models for RoboticsContact-Rich Robotic Manipulation

    SWJTU-Leeds Joint School, Southwest Jiaotong University, Chengdu, China · School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, United Kingdom · Southeast University, Nanjing, China +2

  29. MulDP: Multimodal Diffusion Policy for Autonomous Quadruped Parkour Navigation across Complex Terrains

    Sep 3, 2026Kangmai Hu, Yueqi Zhang, Peng Zhai +5Robot Policy LearningRobot Navigation

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China

  30. A Study of Conditional Diffusion Models for Open-Loop Control under Dry Friction and Stiction

    Sep 1, 2026Eric Aislan AntoneloDiffusion PolicyConditional Diffusion Models

    Department of Automation and Systems Engineering (EAS) Federal University of Santa Catarina (UFSC) Florian´opolis, SC, Brazil · SC, Brazil