Cover Image

From Code to Action: Hierarchical Learning of Diffusion-VLM Policies

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Peschl, Markus, Mazzaglia, Pietro, Dijkman, Daniel
Format:	Preprint
Published:	2025
Subjects:	Robotics Machine Learning
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Hybrid Training for Vision-Language-Action Models
by: Mazzaglia, Pietro, et al.
Published: (2025)

Focusing on What Matters: Object-Agent-centric Tokenization for Vision Language Action models
by: Bendikas, Rokas, et al.
Published: (2025)

Information-driven Affordance Discovery for Efficient Robotic Manipulation
by: Mazzaglia, Pietro, et al.
Published: (2024)

Information-driven Affordance Discovery for Efficient Robotic Manipulation
by: Mazzaglia, Pietro, et al.
Published: (2023)

Redundancy-aware Action Spaces for Robot Learning
by: Mazzaglia, Pietro, et al.
Published: (2024)

CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
by: Yin, Guang, et al.
Published: (2025)

ClevrSkills: Compositional Language and Visual Reasoning in Robotics
by: Haresh, Sanjay, et al.
Published: (2024)

From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment
by: Wu, Yilin, et al.
Published: (2025)

Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulation
by: Niu, Ye, et al.
Published: (2025)

Push Smarter, Not Harder: Hierarchical RL-Diffusion Policy for Efficient Nonprehensile Manipulation
by: Caro, Steven, et al.
Published: (2025)

Contractive Diffusion Policies: Robust Action Diffusion via Contractive Score-Based Sampling with Differential Equations
by: Abyaneh, Amin, et al.
Published: (2026)

GenRL: Multimodal-foundation world models for generalization in embodied agents
by: Mazzaglia, Pietro, et al.
Published: (2024)

Few-Shot Vision-Language Action-Incremental Policy Learning
by: Song, Mingchen, et al.
Published: (2025)

VLM as Strategist: Adaptive Generation of Safety-critical Testing Scenarios via Guided Diffusion
by: Wu, Xinzheng, et al.
Published: (2025)

Diffusion Policy Policy Optimization
by: Ren, Allen Z., et al.
Published: (2024)

Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning
by: Wang, Yixiao, et al.
Published: (2024)

Discrete Diffusion VLA: Bringing Discrete Diffusion to Action Decoding in Vision-Language-Action Policies
by: Liang, Zhixuan, et al.
Published: (2025)

ProcVLM: Learning Procedure-Grounded Progress Rewards for Robotic Manipulation
by: Feng, Youhe, et al.
Published: (2026)

Steering Your Diffusion Policy with Latent Space Reinforcement Learning
by: Wagenmaker, Andrew, et al.
Published: (2025)

Training-Free Imitation Learning with Closed-Form Diffusion Policies
by: Mishra, Raghav, et al.
Published: (2026)

Equivariant Diffusion Policy
by: Wang, Dian, et al.
Published: (2024)

One-Step Diffusion Policy: Fast Visuomotor Policies via Diffusion Distillation
by: Wang, Zhendong, et al.
Published: (2024)

Imitation Learning with Limited Actions via Diffusion Planners and Deep Koopman Controllers
by: Bi, Jianxin, et al.
Published: (2024)

Hierarchical Policy Blending as Inference for Reactive Robot Control
by: Hansel, Kay, et al.
Published: (2022)

Diffusion Policy through Conditional Proximal Policy Optimization
by: Liu, Ben, et al.
Published: (2026)

Efficient Diffusion Transformer Policies with Mixture of Expert Denoisers for Multitask Learning
by: Reuss, Moritz, et al.
Published: (2024)

Dichotomous Diffusion Policy Optimization
by: Liang, Ruiming, et al.
Published: (2025)

Dual Action Policy for Robust Sim-to-Real Reinforcement Learning
by: Terence, Ng Wen Zheng, et al.
Published: (2024)

DADP: Domain Adaptive Diffusion Policy
by: Wang, Pengcheng, et al.
Published: (2026)

Unpacking the Individual Components of Diffusion Policy
by: Yuan, Xiu
Published: (2024)

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning
by: Yang, Jingyun, et al.
Published: (2024)

Reinforcement Fine-Tuning of Flow-Matching Policies for Vision-Language-Action Models
by: Lyu, Mingyang, et al.
Published: (2025)

Action-Constrained Imitation Learning
by: Yeh, Chia-Han, et al.
Published: (2025)

Hierarchical Entity-centric Reinforcement Learning with Factored Subgoal Diffusion
by: Haramati, Dan, et al.
Published: (2026)

Hierarchical Planning for Complex Tasks with Knowledge Graph-RAG and Symbolic Verification
by: Cornelio, Cristina, et al.
Published: (2025)

From Demonstrations to Rewards: Test-Time Prompt Optimization for VLM Reward Models
by: Gumbsch, Christian, et al.
Published: (2026)

Dense Policy: Bidirectional Autoregressive Learning of Actions
by: Su, Yue, et al.
Published: (2025)

Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal
by: Wang, Junlin
Published: (2026)

Robust Policy Learning via Offline Skill Diffusion
by: Kim, Woo Kyung, et al.
Published: (2024)

Enhancing Sample Efficiency and Exploration in Reinforcement Learning through the Integration of Diffusion Models and Proximal Policy Optimization
by: Gao, Tianci, et al.
Published: (2024)