REVIEW 25 cited by
Imitating Human Behaviour with Diffusion Models
Not yet reviewed by Pith; the record is open.
This paper has not been read by Pith yet. Machine review is queued; the pith claim, tier, and objections will appear here once it completes.
SPECIMEN: schema-true, not a live event
T0 review · schema-true
One-sentence machine reading of the paper's core claim.
pith:XXXXXXXX · record.json · timestamp
Imitating Human Behaviour with Diffusion Models
read the original abstract
Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is stochastic and multimodal, with structured correlations between action dimensions. Meanwhile, standard modelling choices in behaviour cloning are limited in their expressiveness and may introduce bias into the cloned policy. We begin by pointing out the limitations of these choices. We then propose that diffusion models are an excellent fit for imitating human behaviour, since they learn an expressive distribution over the joint action space. We introduce several innovations to make diffusion models suitable for sequential environments; designing suitable architectures, investigating the role of guidance, and developing reliable sampling strategies. Experimentally, diffusion models closely match human demonstrations in a simulated robotic control task and a modern 3D gaming environment.
Forward citations
Cited by 25 Pith papers
-
Generative Modeling with Flux Matching
Flux Matching generalizes score-based generative modeling by using a weaker objective that admits infinitely many non-conservative vector fields with the data as stationary distribution, enabling new design choices be...
-
Test-time Sparsity for Extreme Fast Action Diffusion
Test-time sparsity with a parallel pipeline and omnidirectional feature reuse accelerates action diffusion by 5x to 47.5 Hz while cutting FLOPs 92% with no performance loss.
-
Aligning Flow Map Policies with Optimal Q-Guidance
Flow map policies enable fast one-step inference for flow-based RL policies, and FMQ provides an optimal closed-form Q-guided target for offline-to-online adaptation under trust-region constraints, achieving SOTA performance.
-
Action Images: End-to-End Policy Learning via Multiview Video Generation
Action Images turn robot arm motions into interpretable multiview pixel videos, letting video backbones serve as zero-shot policies for end-to-end robot learning.
-
Diffusion Policy with Bayesian Expert Selection for Active Multi-Target Tracking
A Bayesian expert selection framework with variational Bayesian last layers and lower confidence bounds improves diffusion policies for active multi-target tracking.
-
RoboDreamer: Learning Compositional World Models for Robot Imagination
RoboDreamer factorizes video generation using language primitives to achieve compositional generalization in robot world models, outperforming monolithic baselines on unseen goals in RT-X.
-
Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning
Diffusion-QL uses conditional diffusion models as expressive policies in offline RL by coupling behavior cloning with Q-value maximization, achieving SOTA on most D4RL tasks.
-
CoRDE: Concept-Prior Routed Diffusion Experts for Structural Generalization in Robot Manipulation
CoRDE uses concept-prior variational distillation and LoRA-based expert pools to route diffusion models for structurally generalizable robot manipulation policies.
-
Data-Efficient Autoregressive-to-Diffusion Language Models via On-Policy Distillation
On-policy distillation from a frozen autoregressive teacher to a bidirectional student eliminates train-inference mismatch and enables data-efficient ARLM-to-DLM conversion.
-
Double Preconditioning (DoPr): Optimization for Test-Time Performance, not Validation Loss
Double preconditioning (DoPr) improves downstream task performance in test-time feedback settings without consistent gains in validation loss.
-
Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal
FGO guides diffusion policy generation via expanding spectral bands on sub-frequency manifolds to improve action smoothness on 15 robotic manipulation tasks.
-
Adversarial Dual On-Policy Distillation from Expressive Teacher
FA-OPD co-trains a flow-matching teacher and MLP student via adversarial dual on-policy distillation, improving robustness over baselines on six robot benchmarks with noisy or limited demonstrations.
-
Mechanisms of Misgeneralization in Physical Sequence Modeling
Generative sequence models for physical tasks exhibit physical misgeneralization where local prediction errors propagate through physical measurements to distort aggregate distributions over quantities like distance o...
-
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
OGPO is a sample-efficient off-policy method for full finetuning of generative control policies that reaches SOTA on robotic manipulation tasks and can recover from poor behavior-cloning initializations without expert data.
-
OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
OGPO enables sample-efficient full-finetuning of generative control policies via off-policy critics and modified PPO, achieving SOTA on robot manipulation tasks while rescuing poorly initialized behavior cloning polic...
-
FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
FingerViP equips each finger with a miniature camera and trains a multi-view diffusion policy that achieves 80.8% success on real-world dexterous tasks previously limited by wrist-camera occlusion.
-
Learning Native Continuation for Action Chunking Flow Policies
Legato trains flow-based VLA policies with schedule-shaped action-noise mixtures and randomized conditions to achieve smoother trajectories and ~10% faster task completion than real-time chunking across five real-worl...
-
Real-Time Execution of Action Chunking Flow Policies
Real-time chunking (RTC) allows diffusion- and flow-based action chunking policies to execute smoothly and asynchronously, maintaining high success rates on dynamic tasks even with significant inference latency.
-
HybridVLA: Collaborative Diffusion and Autoregression in a Unified Vision-Language-Action Model
HybridVLA unifies diffusion and autoregression in a single VLA model via collaborative training and ensemble to raise robot manipulation success rates by 14% in simulation and 19% in real-world tasks.
-
CogACT: A Foundational Vision-Language-Action Model for Synergizing Cognition and Action in Robotic Manipulation
CogACT is a new VLA model that uses a conditioned diffusion action transformer to achieve over 35% higher average success rates than OpenVLA in simulation and 55% in real-robot experiments while generalizing to new ro...
-
Diffusion Policy Policy Optimization
DPPO fine-tunes diffusion policies via policy gradients and outperforms prior RL approaches for diffusion policies and PG-tuned alternatives on robot benchmarks while enabling stable training and hardware deployment.
-
Bridging the Morphology Gap: Adapting VLA Models to Dexterous Manipulation via Intent-Conditioned Fine-Tuning
InDex adapts VLA models to high-DoF dexterous manipulation via intent-conditioned fine-tuning and a decoupled diffusion head, outperforming monolithic baselines in simulation tasks with minimal data.
-
Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies
LP-DS improves generative policies for imitation and RL by optimizing latent noise perturbations with a constrained Lagrangian objective, showing up to 25% better returns on manipulation and locomotion tasks.
-
MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency
MimicIK applies conditional flow matching with an FK consistency loss and MIP backbone to learn IK from 8848 teleoperation demos on a 6-DOF robot, reporting 4.65 mm mean position error, 92.01% 10 mm success rate, 7.99...
-
General Covariant Action Modeling: Constructing Generalized Manifolds via Spatio-Temporal Decoupling
GAM framework uses arc-length parameterization for temporal invariance and schema-affine factorization for geometric invariance to build a covariant action manifold integrated into VLA models for improved generalizati...
discussion (0)
Sign in with ORCID, Apple, or X to comment. Anyone can read and Pith papers without signing in.