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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Temporal Logic Guidance for Action-Only Diffusion Policies with World Models
Jun 22, 2026Moritz Zoellner, Anastasios Manganaris, Rohan PalejaDiffusion Model Guidance Diffusion Policy
Department of Computer Science, Purdue University West Lafayette, IN, USA
Scalable Maximum Entropy Reinforcement Learning for Diffusion Policies via Adjoint Matching
Jun 21, 2026Serge Thilges, Onur Celik, Denis Blessing +2Diffusion Policy Maximum Entropy RL
Autonomous Learning Robots, Karlsruhe Institute of Technology
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
Jun 20, 2026Haidong Huang, Xixin Zhao, Yaohua Zhou +5Diffusion Policy Robot Imitation Learning
College of Information Science and Technology, Eastern Institute of Technology, Ningbo, Ningbo 315200, China · Faculty of Science and Engineering, University of Nottingham Ningbo China, Ningbo 315100, China · Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China +2
Factor-Aware Mixture-of-Experts with Pretrained Encoder for Combinatorial Generalization
Jun 19, 2026Feihong Zhang, Guojian Zhan, Zeyu He +8Mixture of Experts Generalization in Robotic Manipulation
Tsinghua University, Beijing, China · SunRisingAI Ltd., Beijing, China · EFORT Intelligent Robot Co., Ltd., Anhui, China
BayesFP: Posterior Estimation for Flow-Based Policies via Feynman-Kac Sampling
Jun 19, 2026Sreevardhan Sirigiri, Weiming Zhi, Fabio RamosRobot Policy Learning Trajectory Generation
School of Computer Science, The University of Sydney, Australia · Australian Centre For Robotics, The University of Sydney, Australia · College of Connected Computing, Vanderbilt University, TN, USA. +1
DiffusionVS: A Generative Framework for Robust Visual Servoing Based on Diffusion Policy
Jun 17, 2026Hongkang Cui, Rui He, Haoyao ChenDiffusion Policy Robot Policy Generalization
Kolmogorov Regression for Robust Diffusion Policies
Jun 16, 2026Lekan MoluStochastic Differential Equations Diffusion Policy
Bala Cynwyd, PA 19004
Training and Evaluating Diffusion Policies with Long Context Lengths
Jun 15, 2026Abhinav Agarwal, Adam Wei, Taylan Kargin +6Diffusion Policy Long-Context Modeling
Massachusetts Institute of Technology
Trust-Region Diffusion Policies for Massively Parallel On-Policy RL
Jun 13, 2026Huy Le, Onur Celik, Denis Blessing +6Diffusion Policy RL for Diffusion Models
Bosch Center for Artificial Intelligence · Autonomous Learning Robots, KIT · University of Texas at Austin +1
Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Camera
Jun 12, 2026Seoyoon Kim, Kanghyun Kim, Dongwoo Ko +2Visuomotor Policy Learning Diffusion Policy
Korea Advanced Institute of Science and Technology (KAIST) · Neuromeka
Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing
Jun 12, 2026Duc Minh Nguyen, Bao-Ngoc Dao, Tung M. Luu +15Diffusion Policy Robotic Manipulation
Center for AI Research, VinUniversity · VinRobotics · KAIST +8
QPILOTS: Efficient Test-Time Q-Steering for Flow Policies
Jun 11, 2026Yifan Ruan, Chenyang Cao, Andreas Burger +7Inference-Time Optimization Diffusion Policy
University of Toronto · Vector Institute · LG Electronics
NavWAM: A Navigation World Action Model for Goal-Conditioned Visual Navigation
Jun 11, 2026Daichi Azuma, Taiki Miyanishi, Koya Sakamoto +6World Models for Robotics Robot Navigation
The University of Tokyo · National Institute of Informatics · AIRoA +1
GeoHAT: Geometry-Adaptive Hybrid Action Transformer for Mobile Manipulation
Jun 11, 2026Xiangyu Zhu, Renjun Wu, Luzhou Ge +2Mobile Manipulation Whole-Body Control
Beijing Institute of Technology
EmbodiSteer: Steering Embodiment-Agnostic Visuomotor Policies with Joint-Space Guidance for Zero-Shot Cross-Embodiment Deployment
Jun 11, 2026Shihefeng Wang, Kangchen Lv, Mingrui Yu +1Robot Skill Learning Generalization in Robotic Manipulation
Department of Automation, Tsinghua University · Beijing Key Laboratory of Embodied Intelligence Systems · Institute for Embodied Intelligence and Robotics, Tsinghua University
Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics
Jun 10, 2026Adam Wei, Nicholas Pfaff, Thomas Cohn +4Robot Skill Learning Diffusion Policy
MIT
MODIP: Efficient Model-Based Optimization for Diffusion Policies
Jun 9, 2026Zakariae El Asri, Philippe Gratias-Quiquandon, Nicolas Thome +1Robot Policy Learning Robot Policy Adaptation
Sorbonne Université, CNRS, ISIR, F-75005 Paris, France · Institut Universitaire de France (IUF)
Test-time Adversarial Takeover: A Real-time Hijacking Interface against Robotic Diffusion Policies
Jun 9, 2026Zi Yin, Peilin Chai, Siyuan Huang +1Adversarial Attacks Diffusion Policy
Tsinghua University · Independent Researcher · Johns Hopkins University +1
Guided Discovery of New Behaviors using Diffusion Policies
Jun 7, 2026Dian Yu, Sebastian Sanokowski, Majid KhadivDiffusion Guidance Diffusion Policy
Munich Institute of Robotics and Machine Intelligence, Technical University of Munich
Latent Diffusion Policy: Shaping Latent Spaces for Diffusion-Based Robotic Manipulation
Jun 7, 2026Zhexuan Zhou, Yichen Lai, Jinhao Zhang +3Visuomotor Policy Learning Diffusion Policy
PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation
Jun 7, 2026Lingxuan Wu, Zijian Zhu, Lizhong Wang +5Robot Policy Learning Diffusion Policy
Dept. of Comp. Sci. and Tech., Institute for AI, Tsinghua-Bosch Joint ML Center, THBI Lab, BNRist Center, Tsinghua University, Beijing, 100084, China · Peng Cheng Laboratory, 518108, China
L-SDPPO: Policy Optimization of Spiking Diffusion Policy for Intra-vehicular Robotic Manipulation
Jun 4, 2026Liwen Zhang, Dong Zhou, Guanghui Sun +4Space Robotics Robotic RL
Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China · Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong SAR, China
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Jun 3, 2026Haofei Lu, Hongjia Liu, Yifei Dong +3Robotic Grasping Robotic RL
Department of Robotics, Perception and Learning, KTH Royal Institute of Technology, Sweden. · Robotics and Autonomous Systems at University of Turku, Finland.
Multimodal Action Diffusion for Robust End-to-End Autonomous Driving
Jun 1, 2026Jorge Daniel Rodríguez-Vidal, Diego Porres, Gabriel Villalonga Pineda +1Diffusion Transformer End-to-End Autonomous Driving
Computer Vision Center (CVC) Barcelona, Spain · Universitat Autònoma de Barcelona (UAB) Barcelona, Spain
Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections
Jun 1, 2026Zhaoting Li, Gang Chen, Javier Alonso-Mora +2Diffusion Policy Robotic Manipulation
Delft University of Technology · University of Stuttgart
Training-Free Imitation Learning with Closed-Form Diffusion Policies
May 31, 2026Raghav Mishra, Ian R. ManchesterDiffusion Model Guidance Visuomotor Policy Learning
Australian Center for Robotics, ARIAM Hub, and School of Aerospace, Mechanical and Mechatronic Engineering University of Sydney
Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies
May 31, 2026Hikmet Simsir, Ozgur S. OguzRobot Policy Adaptation Reinforcement Learning
Department of Computer Engineering, Bilkent University, Ankara, Türkiye.
From Noise to Control: Parameterized Diffusion Policies
May 29, 2026Renhao Zhang, Haotian Fu, Mingxi Jia +3Robot Policy Learning Robot Policy Adaptation
University of Massachusetts · 2Brown University · 3Harvard
Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
May 29, 2026Shuai Ke, Jiexin Zhang, Huan Zhao +4Contact-Rich Robotic Manipulation Diffusion Policy
State Key Laboratory of Intelligent Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China
Efficient and Uncertainty-Aware Diffusion Framework for Offline-to-Online Reinforcement Learning
May 29, 2026Ha Manh Bui, Metod Jazbec, Eric Nalisnick +1Reinforcement Learning Diffusion Policy
Department of Computer Science, Johns Hopkins University, Baltimore, MD, U.S.A. · AMLab, University of Amsterdam, Amsterdam, Netherlands

Jun 22, 2026, cs.ROJ/K move · Enter open · S save

Temporal Logic Guidance for Action-Only Diffusion Policies with World Models

Moritz Zoellner, Anastasios Manganaris, Rohan Paleja

Department of Computer Science, Purdue University West Lafayette, IN, USA

Diffusion Model Guidance Diffusion Policy

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Diffusion policies enable multimodal robot behavior but offer limited ability to choose among behavior modes at inference time, even though such control is desirable in human-robot settings. Prior solutions to this lack of control have utilized Signal Temporal Logic (STL) to express human intentions and provide corresponding guidance for diffusion policy inference. However, these approaches can only guide diffusion policies that jointly generate future actions and states, increasing both complexity and runtime. We propose a novel guidance method for action-only diffusion policies that uses a separate learned world model to enable differentiable evaluation of STL robustness, with its gradient then injected into the diffusion process. This steers behavior toward constraint satisfaction without retraining, improving constraint adherence while preserving task performance. On the Can Transport task from Robomimic, our method maintains 100% task success while reducing constraint violations from over 80% for baseline methods to 4%. We also discuss extensions toward improved robustness and more complex constraints.

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Latest papers 134