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. ADAPT: Agile Diffusion Action Priors for Robust and Steerable Online Text-Driven Humanoid Control

    Sep 1, 2026Yan Wu, Chenhao Li, Kaifeng Zhao +3Humanoid Robot ControlDiffusion Policy

    ETH Zurich, Switzerland

  2. Multi-AUV Ad-hoc network-based Target Tracking: A Value Gradient Guidance Multi-Agent Diffusion Reinforcement Learning Approach

    Aug 12, 2026Jiaao Ma, Chuan Lin, Guangjie Han +4Multi-Agent ControlDiffusion Policy

    Software College, Northeastern University, Shenyang, China · Key Laboratory of Maritime Intelligent Network Information Technology, Ministry of Education, Hohai University, Changzhou, China · College of Computer Science and Software Engineering, Hohai University, Nanjing, 210013, China

  3. VIDP: Variable Impedance Diffusion Policy for Compliant Robot Manipulation from Diverse Demonstrations

    Aug 6, 2026Hisham Khalil, Neil Fernandes, Thomas M. Kwok +2Contact-Rich Robotic ManipulationDiffusion Policy

    Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada · Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, ON, Canada · School of Computer Science and the Department of Electrical and Computer Engineering, McGill University, Montreal, QC, Canada

  4. Learning When to Stop: Prefix-Optimal Dynamic Diffusion Policies for Continuous Control

    Aug 5, 2026Rohit Kumar Salla, Manoj Saravanan, Simon StepputtisDiffusion PolicyContinuous Control

    Virginia Polytechnic Institute and State University (Virginia Tech), Blacksburg, Virginia, USA

  5. A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces

    Aug 4, 2026Rishabh Shukla, Adithya Santhosh, Shaili Gandhi +2Bimanual Robotic ManipulationContact-Rich Robotic Manipulation

    Realization of Robotic Systems Lab (RROS) University of Southern California, Los Angeles, CA, USA

  6. Diffusion Policy with Behavioral Advantage Correction for Offline Reinforcement Learning

    Aug 3, 2026Botao Dong, Longyang Huang, Ning Pang +1Distribution ShiftValue Function Estimation

    Botao Dong is with the School of Chemistry, Chemical Engineering and Biotechnology, Nanyang Technological University, Singapore 637459

  7. FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation

    Jul 30, 2026Lifeng Zhuo, Wendi Chen, Han Xue +4Contact-Rich Robotic ManipulationVisuomotor Policy Learning

    1Shanghai Jiao Tong University · 2Shanghai Innovation Institute · 3Noematrix Ltd.

  8. X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

    Jul 30, 2026Tianyu Yang, Yiming Zeng, Wenzhe Cai +5Robot NavigationPolicy Optimization

    1Fudan University · 3Sun Yat-sen University · 2Shanghai AI Laboratory +1

  9. PAC-DP: PAC-Bayesian Diffusion Policy Learning

    Jul 27, 2026Mohammad Hasan Yeganegi, Dian Yu, Andrea Del Prete +2PAC-Bayesian Generalization BoundsRobot Policy Learning

    Department of Industrial Engineering, University of Trento, Italy. · Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM), Germany.

  10. LeapBot-WA: World-Anchor Action Models via Predictive Latent Alignments

    Jul 27, 2026Pei Liu, Nan Zheng, Lang Zhang +8Robot Policy LearningWorld Models for Robotics

    1The Hong Kong University of Science and Technology (Guangzhou) · 2The Hong Kong University of Science and Technology · 3Leapmotor +1

  11. WorldDiT: A Unified Diffusion Architecture for World and Action Modeling

    Jul 27, 2026Sen Wang, R. Gnana Praveen, Bidhan Roy +1Diffusion TransformerDiffusion Policy

    Bagel Labs (bagel.com)

  12. GRACE: Gradient-Free Robot Action Generation via Combined Diffusion-MPPI Posterior Mean Estimation

    Jul 22, 2026Leesai Park, Jiho HOng, Sanghyun KimDiffusion GuidanceDiffusion Policy

    School of Mechanical Engineering, Kyung Hee University, Yongin, Republic of Korea. · Advanced Institute of Convergence Technology (AICT), Suwon, Republic of Korea.

  13. Evolving Cache Schedules for Fast Diffusion Policy Inference

    Jul 22, 2026Siying Wang, Kangye Ji, Di Wang +1Diffusion PolicyDiffusion Model Caching

    School of Telecommunications Engineering, Xidian University, Xi’an, China · Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen, China · School of Computer Science and Technology, Xidian University, Xi’an, China +1

  14. Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction

    Jul 22, 2026Seonsoo Kim, Seongil Hong, Jun-Gill KangDiffusion-Based PlanningDiffusion Policy

    Agency for Defense Development

  15. Asynchronous Multimodal Diffusion Policy Composition via Latency-Aware Guidance Fusion

    Jul 19, 2026Zihao He, Hongjie Fang, Shirun Tang +2Diffusion GuidanceDiffusion Policy

    Shanghai Jiao Tong University · Noematrix · Shanghai Innovation Institute +1

  16. NavCMPO: Critic-Guided MeanFlow Policy Optimization for Adaptive Navigation

    Jul 16, 2026Junjie An, Yi Wu, Xiao Liu +5Flow MatchingRobot Policy Adaptation

    Zhejiang University, Hangzhou, China · Shandong University

  17. Industrial Dexterity Benchmark: A Hardware-Software Benchmarking Platform for Industrial Dexterous Manipulation

    Jul 15, 2026Honglu He, Jacob Laufer, Zhiwu Zheng +8Dexterous ManipulationDiffusion Policy

    Analog Devices, Inc., USA

  18. Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation

    Jul 13, 2026Dian Wang, Jisang Park, Xiaomeng Xu +3Mobile ManipulationBimanual Robotic Manipulation

    Stanford University

  19. SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation

    Jul 13, 2026Haidong Cao, Wenjun Cao, Quanhao Li +5Long-Horizon Robotic ManipulationVisuomotor Policy Learning

    Institute of Trustworthy Embodied AI, Fudan University, China · Shanghai Key Laboratory of Multimodal Embodied AI, China

  20. A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer

    Jul 12, 2026Haitong Ma, Haldun Balim, Yang Hu +2Sim-to-Real TransferDiffusion Policy

    1Harvard University. · 2Georgia Institute of Technology.

  21. Expressivity and Statistical Trade-offs in Diffusion Policy Learning

    Jul 8, 2026Viet Vu, Renyuan Xu, Jiacheng Zhang +1Diffusion PolicyRL for Diffusion Models

    Stanford University · Chinese University of Hong Kong · Imperial College London

  22. PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation

    Jul 8, 2026Zezeng Li, Enda Xiang, Thuy Tran +3Robot Policy LearningTest-Time Adaptation

    Ecole Centrale de Lyon, France · Beihang University, China

  23. ChronoFlow-Policy: Unifying Past-Current-Future Interaction Flow in Visuomotor Policy Learning

    Jun 30, 2026Bokai Lin, Yifu Xu, Xinyu Zhan +6Long-Horizon Robotic ManipulationVisuomotor Policy Learning

    Shanghai Jiao Tong University, China · Shanghai Innovation Institute, China · Noematrix, China

  24. ELASTIC: Efficiently Learning to Adaptively Scale Test-Time Compute for Generative Control Policies

    Jun 30, 2026Andrew Zou Li, Gokul Swamy, Yonatan Bisk +1Diffusion PolicyTest-Time RL

    Carnegie Mellon University

  25. Keypose Exploration: Efficient Automatic Trajectory Labelling and Cross-Embodiment Policy Transfer

    Jun 27, 2026Yupu Lu, Hang Xu, Yizhou Chen +1Robot Policy LearningCross-Embodiment Robot Learning

    School of Computing and Data Science, The University of Hong Kong, HKSAR.

  26. ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies

    Jun 27, 2026Tzu-Hsiang Lin, Srinivas Shakkottai, Dileep Kalathil +1Robot Policy AdaptationRobot Failure Recovery

    Texas A&M University

  27. Bridging Handheld and Teleoperated Supervision for Contact-Rich Manipulation via State-Gated Experts

    Jun 25, 2026Vidullan Surendran, Neehar Peri, David WatkinsContact-Rich Robotic ManipulationRobotic Data Collection

    RAI Institute · Carnegie Mellon University

  28. Stage-Aware and Roughness-Constrained Diffusion Policy for Multi-Stage Robotic Polishing

    Jun 24, 2026Shuai Ke, Jiexin Zhang, Huan Zhao +7Long-Horizon Robotic ManipulationContact-Rich Robotic Manipulation

    State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan, 430074, China · Shanghai Spaceflight Precision Machinery Institute, Shanghai, 201600, China

  29. Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control

    Jun 23, 2026Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5Diffusion Model GuidanceRobotic Grasping

    ETH Zurich · EPFL

  30. Learning to See While Learning to Act: Diffusion Models for Active Perception in Robot Imitation

    Jun 22, 2026Kuancheng Wang, Vaibhav Saxena, Shuo Cheng +2Active PerceptionDiffusion Policy

    Georgia Institute of Technology · Autodesk Research · NVIDIA