Diffusion Policy: Visuomotor Policy Learning via Action Diffusion https://arxiv.org/abs/2303.04137 Diffusion Policy: Visuomotor Policy Learning via Action DiffusionThis paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4 di..