mlsanityData to 7 Oct 2026

Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation

arXiv 2309.02685 ↗First posted 6 Sep 2023cs.RO cs.AI cs.LGcited by 51

On the map: Diffusion models → Diffusion and flow policies for robotics

Abstract (arXiv)

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

Key facts. Cited by 51 papers in the map (data through 7 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 68 of its 92 references that are in the map. First posted on arXiv 6 Sep 2023.

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68 of 92 references.

Closest ancestors · 7

Same direction, newest first

  1. 2023Training Diffusion Models with Reinforcement Learning22 May
  2. 2023EDGI: Equivariant Diffusion for Planning with Embodied Agents22 Mar
  3. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
  4. 2023ReorientDiff: Diffusion Model based Reorientation for Object Manipulation28 Feb
  5. 2023Imitating Human Behaviour with Diffusion Models25 Jan
  6. 2022Is Conditional Generative Modeling all you need for Decision-Making?28 Nov
  7. 2022SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion8 Sep

Other references · 61

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,694
  3. 2020Denoising Diffusion Implicit Modelscited by 9,655
  4. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 8,964
  5. 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,185
  6. 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,539
  7. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  8. 2019Generative Modeling by Estimating Gradients of the Data Distributioncited by 4,067
  9. 2021GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Modelscited by 3,595
  10. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,880
  11. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,023
  12. 2021E(n) Equivariant Graph Neural Networkscited by 951
38 more
  1. 2018Tensor field networks: Rotation- and translation-equivariant neural networks for 3D point cloudscited by 735
  2. 2018Open3D: A Modern Library for 3D Data Processingcited by 717
  3. 2021E(3)-Equivariant Graph Neural Networks for Data-Efficient and Accurate Interatomic Potentialscited by 701
  4. 2020SE(3)-Transformers: 3D Roto-Translation Equivariant Attention Networkscited by 602
  5. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 584
  6. 2023Learning Universal Policies via Text-Guided Video Generationcited by 506
  7. 2020Transporter Networks: Rearranging the Visual World for Robotic Manipulationcited by 342
  8. 2022DiffDock: Diffusion Steps, Twists, and Turns for Molecular Dockingcited by 307
  9. 2021Vector Neurons: A General Framework for SO(3)-Equivariant Networkscited by 304
  10. 2022Equiformer: Equivariant Graph Attention Transformer for 3D Atomistic Graphscited by 258
  11. 2022Riemannian Score-Based Generative Modellingcited by 216
  12. 2023Reduce, Reuse, Recycle: Compositional Generation with Energy-Based Diffusion Models and MCMCcited by 216
  13. 2023SE(3) diffusion model with application to protein backbone generationcited by 214
  14. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 204
  15. 2023EquiformerV2: Improved Equivariant Transformer for Scaling to Higher-Degree Representationscited by 201
  16. 2022e3nn: Euclidean Neural Networkscited by 171
  17. 2022Riemannian Diffusion Modelscited by 120
  18. 2014Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Studycited by 86
  19. 2021Independent SE(3)-Equivariant Models for End-to-End Rigid Protein Dockingcited by 81
  20. 2022SO(2)-Equivariant Reinforcement Learningcited by 79
  21. 2020Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networkscited by 77
  22. 2021SE(3) Equivariant Graph Neural Networks with Complete Local Framescited by 75
  23. 2022Statistical Efficiency of Score Matching: The View from Isoperimetrycited by 63
  24. 2021Equivariant Q Learning in Spatial Action Spacescited by 61
  25. 2022Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learningcited by 54
  26. 2022Sample Efficient Grasp Learning Using Equivariant Modelscited by 52
  27. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  28. 2022Equivariant Transporter Networkcited by 44
  29. 2022On-Robot Learning With Equivariant Modelscited by 38
  30. 2022Edge Grasp Network: A Graph-Based SE(3)-invariant Approach to Grasp Detectioncited by 34
  31. 2022The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetrycited by 32
  32. 2023Shelving, Stacking, Hanging: Relational Pose Diffusion for Multi-modal Rearrangementcited by 29
  33. 2022SE(3)-Equivariant Attention Networks for Shape Reconstruction in Function Spacecited by 26
  34. 2022MIRA: Mental Imagery for Robotic Affordancescited by 26
  35. 2022SEIL: Simulation-augmented Equivariant Imitation Learningcited by 22
  36. 2023Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulationcited by 21
  37. 2023Banana: Banach Fixed-Point Network for Pointcloud Segmentation with Inter-Part Equivariancecited by 19
  38. 2023A General Theory of Correct, Incorrect, and Extrinsic Equivariancecited by 18

50 most cited of 61 All 61 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 1; 2024: 18; 2025: 20; 2026: 12.

51 papers.

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  1. 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representationscited by 278
  2. 2024EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learningcited by 72
  3. 2024Equivariant Diffusion Policycited by 61
  4. 2024DexDiffuser: Generating Dexterous Grasps with Diffusion Modelscited by 46
  5. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 39
  6. 2024A Survey of Embodied Learning for Object-Centric Robotic Manipulationcited by 34
  7. 2024ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matchingcited by 25
  8. 2024ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policycited by 24
  9. 2024Imagination Policy: Using Generative Point Cloud Models for Learning Manipulation Policiescited by 18
  10. 2024RiEMann: Near Real-Time SE(3)-Equivariant Robot Manipulation without Point Cloud Segmentationcited by 12
  11. 2025AnyPlace: Learning Generalized Object Placement for Robot Manipulationcited by 10
  12. 2025Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objectscited by 10
38 more
  1. 2024Multi-Modal Grounded Planning and Efficient Replanning For Learning Embodied Agents with A Few Examplescited by 9
  2. 2023Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planningcited by 8
  3. 2025SE(3)-Equivariant Robot Learning and Control: A Tutorial Surveycited by 8
  4. 2025GAGrasp: Geometric Algebra Diffusion for Dexterous Graspingcited by 7
  5. 2025SE(3)-Equivariant Diffusion Policy in Spherical Fourier Spacecited by 7
  6. 2024EqvAfford: SE(3) Equivariance for Point-Level Affordance Learningcited by 6
  7. 2024MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policiescited by 6
  8. 2024Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulationcited by 6
  9. 2025Time-Unified Diffusion Policy with Action Discrimination for Robotic Manipulationcited by 5
  10. 2024SE(3)-bi-equivariant Transformers for Point Cloud Assemblycited by 4
  11. 2025A Practical Guide for Incorporating Symmetry in Diffusion Policycited by 4
  12. 20253D Equivariant Visuomotor Policy Learning via Spherical Projectioncited by 4
  13. 2025Morphologically Symmetric Reinforcement Learning for Ambidextrous Bimanual Manipulationcited by 3
  14. 2025Partially Equivariant Reinforcement Learning in Symmetry-Breaking Environmentscited by 3
  15. 2024Diffusion Models for Generating Ballistic Spacecraft Trajectoriescited by 2
  16. 2025Coarse-to-Fine 3D Keyframe Transportercited by 2
  17. 2025Equivariant Flow Matching for Point Cloud Assemblycited by 2
  18. 2024BiEquiFormer: Bi-Equivariant Representations for Global Point Cloud Registrationcited by 1
  19. 2024Precise Pick-and-Place using Score-Based Diffusion Networkscited by 1
  20. 2025GeoAda: Efficiently Finetune Geometric Diffusion Models with Equivariant Adapterscited by 1
  21. 2025Equivariant Volumetric Graspingcited by 1
  22. 2025Symmetry-Aware Steering of Equivariant Diffusion Policies: Benefits and Limitscited by 1
  23. 2026Contractive Diffusion Policies: Robust Action Diffusion via Contractive Score-Based Sampling with Differential Equationscited by 1
  24. 2026NNiT: Width-Agnostic Neural Network Generation with Structurally Aligned Weight Spacescited by 1
  25. 2026Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulationcited by 1
  26. 2026Learning to See While Learning to Act: Diffusion Models for Active Perception in Robot Imitationcited by 1
  27. 2026SAVLA: Symmetry-Aware Vision-Language-Action Models for Robotic Manipulationcited by 1
  28. 2024SPLIT: SE(3)-diffusion via Local Geometry-based Score Prediction for 3D Scene-to-Pose-Set Matching Problemscited by 0
  29. 2025Multi-Group Equivariant Augmentation for Reinforcement Learning in Robot Manipulationcited by 0
  30. 2025Hybrid Perception and Equivariant Diffusion for Robust Multi-Node Rebar Tyingcited by 0
  31. 2025ReSeFlow: Rectifying SE(3)-Equivariant Policy Learning Flowscited by 0
  32. 2025UniPrototype: Humn-Robot Skill Learning with Uniform Prototypescited by 0
  33. 2026Group-Invariant Unsupervised Skill Discovery: Symmetry-aware Skill Representations for Generalizable Behaviorcited by 0
  34. 2026Equivariant Latent Alignment via Flow Matching under Group Symmetriescited by 0
  35. 2026The Lie We Tell: Correcting the Euclidean Fallacy in Vision Language Action Policies via Score Matching on Tangent Spacecited by 0
  36. 2026Pix2Act: Image-Space Manipulation Policies with Equivariant Augmentationcited by 0
  37. 2026LieSpline-DP: Lie-Group B-Spline Diffusion Policy for Smooth Robot Manipulationcited by 0
  38. 2026Manifold-Stable Flow Matchingcited by 0

50 most cited of 51 All 51 (JSON)

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  1. 2025Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising
  2. 2025X-Diffusion: Training Diffusion Policies on Cross-Embodiment Human Demonstrations
  3. 2025EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulation
  4. 2024RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation
  5. 2025ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulation
  6. 2026Mixture of Frames Policy: Multi-Frame Action Denoising for Bimanual Mobile Manipulation
  7. 2024ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
  8. 2025Tenma: Robust Cross-Embodiment Robot Manipulation with Diffusion Transformer