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Motion-trail visualization of a robot arm executing Diffusion Policy on the Push-T benchmark with a red T-shaped block.

Image: Diffusion Policy project authors — Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song01imitation learning

Robotics: Science and SystemsMar 2023

Diffusion Policy: Visuomotor Policy Learning via Action Diffusion

Cheng Chi, Zhenjia Xu, Siyuan Feng, et al.

The work applies diffusion models to generate robot action sequences from observations.

ConfirmedLast updated Aug 20, 2026

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