Generative diffusion models applied to robotics policy and planning.
Christos Ziakas, Alessandra Russo, Avishek Joey Bose · arXiv · May 2026
Generative policies based on expressive model classes, such as diffusion-models and flow matching, are well-suited to complex control problems with highly multimodal action distributions. Their expressivity, however, comes at a significant inference cost:...
Siqiao Huang, Kun-Ying Lee, Dongming Qiao et al. · arXiv preprint · Jun 2026
Humanoid whole-body control has made significant progress in recent years, yet existing approaches remain limited to few-skill policies with heavy reward engineering, or motion trackers that are difficult to extend to new input modalities. We argue that the key to general-purpose humanoid control is...
Cheng Chi, Siyuan Feng, Yilun Du et al. · RSS 2023 · Jul 2023
A behavior cloning approach that models robot policies as conditional diffusion processes, enabling multimodal action distributions and smooth action sequences.
Read these papers in order to build expertise in Diffusion Models.
Christos Ziakas, Alessandra Russo et al. · 2026
Siqiao Huang, Kun-Ying Lee et al. · 2026
Cheng Chi, Siyuan Feng et al. · 2023
