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title
3D Diffusion Policy
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This paper introduces 3D Diffusion Policy (DP3), a visual imitation learning algorithm that masters divserse visuomotor tasks.
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2026-03-03 12:39:07
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3D Diffusion Policy 3D Diffusion Policy Generalizable Visuomotor Policy Learning via Simple 3D Representations arXiv Paper Code Twitter Simulation Data Real Robot Data Robotics: Science and Systems (RSS) 2024 3D Diffusion Policy Generalizable Visuomotor Policy Learning via Simple 3D Representations Abstract. Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we present 3D Diffusion Policy (DP3) , a novel visual imitation learning approach that incorporates the power of 3D visual representations into diffusion policies, a class of conditional action generative models. The core design of DP3 is the utilization of a compact 3D visual representation, extracted from sparse point clouds with an efficient point encoder. In our experiments involving 72 simulation tasks...
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