Diffusion Model

[TOC] Title: Diffusion Policy Visuomotor Policy Learning via Action Diffusion Author: Cheng Chi et. al. Publish Year: 2023 Review Date: Thu, Mar 9, 2023 url: https://diffusion-policy.cs.columbia.edu/diffusion_policy_2023.pdf Summary of paper Contribution introducing a new form of robot visuomotor policy that generates behaviour via a “conditional denoising diffusion process” on robot action space Some key terms Explicit policy learning this is like imitation learning Implicit policy aiming to minimise the estimation of the energy function learning this is like a standard reinforcement learning diffusion policy ...

[TOC] Title: Planning With Diffusion for Flexible Behaviour Synthesis Author: Michael Janner et. al. Publish Year: 21 Dec 2022 Review Date: Mon, Jan 30, 2023 Summary of paper Motivation use the diffusion model to learn the dynamics tight coupling of the modelling and planning our goal is to break this abstraction barrier by designing a model and planning algorithm that are trained alongside one another, resulting in a non-autoregressive trajectory-level model for which sampling and planning are nearly identical. Some key terms ideal model-based RL ...