Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs, a novel SE(3)-equivariant diffusion-based approach for visual robotic manipulation tasks. We show that our proposed method achieves remarkable data efficiency, requiring only 5 to 10 human demonstrations for effective end-to-end training in less than an hour. Furthermore, our benchmark experiments demonstrate that our approach has superior generalizability and robustness compared to state-of-the-art methods. Lastly, we validate our methods with real hardware experiments. Project Website: https://sites.google.com/view/diffusion-edfs/home
@article{arxiv.2309.02685,
title = {Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation},
author = {Hyunwoo Ryu and Jiwoo Kim and Hyunseok An and Junwoo Chang and Joohwan Seo and Taehan Kim and Yubin Kim and Chaewon Hwang and Jongeun Choi and Roberto Horowitz},
journal= {arXiv preprint arXiv:2309.02685},
year = {2023}
}