mlsanityData to 14 Oct 2026

CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Making

arXiv 2406.09509 ↗First posted 13 Jun 2024cs.AI cs.LG cs.ROcited by 39

On the map: Diffusion models → Diffusion foundations and sampling

Abstract (arXiv)

Leveraging the powerful generative capability of diffusion models (DMs) to build decision-making agents has achieved extensive success. However, there is still a demand for an easy-to-use and modularized open-source library that offers customized and efficient development for DM-based decision-making algorithms. In this work, we introduce CleanDiffuser, the first DM library specifically designed for decision-making algorithms. By revisiting the roles of DMs in the decision-making domain, we identify a set of essential sub-modules that constitute the core of CleanDiffuser, allowing for the implementation of various DM algorithms with simple and flexible building blocks. To demonstrate the reliability and flexibility of CleanDiffuser, we conduct comprehensive evaluations of various DM algorithms implemented with CleanDiffuser across an extensive range of tasks. The analytical experiments provide a wealth of valuable design choices and insights, reveal opportunities and challenges, and lay a solid groundwork for future research. CleanDiffuser will provide long-term support to the decision-making community, enhancing reproducibility and fostering the development of more robust solutions. The code and documentation of CleanDiffuser are open-sourced on the https://github.com/CleanDiffuserTeam/CleanDiffuser.

Key facts. Cited by 39 papers in the map (data through 14 Oct 2026). Placed in Diffusion foundations and sampling, one of 14 directions in Diffusion models. Builds on 58 of its 74 references that are in the map. First posted on arXiv 13 Jun 2024.

Builds on

58 of 74 references.

Closest ancestors · 12

Same direction, newest first

  1. 2022Scalable Diffusion Models with Transformers19 Dec
  2. 2022DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Models2 Nov
  3. 2022Classifier-Free Diffusion Guidance26 Jul
  4. 2022DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Steps2 Jun
  5. 2022Elucidating the Design Space of Diffusion-Based Generative Models1 Jun
  6. 2021High-Resolution Image Synthesis with Latent Diffusion Models20 Dec
  7. 2021Variational Diffusion Models1 Jul
  8. 2021Diffusion Models Beat GANs on Image Synthesis11 May
  9. 2021Improved Denoising Diffusion Probabilistic Models18 Feb
  10. 2020Score-Based Generative Modeling through Stochastic Differential Equations26 Nov
  11. 2020Denoising Diffusion Implicit Models6 Oct
  12. 2020Denoising Diffusion Probabilistic Models19 Jun

Other references · 46

  1. 2023Adding Conditional Control to Text-to-Image Diffusion Modelscited by 5,503
  2. 2022Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flowcited by 3,700
  3. 2022DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generationcited by 3,300
  4. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
  5. 2018Addressing Function Approximation Error in Actor-Critic Methodscited by 2,417
  6. 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,333
  7. 2020Conservative Q-Learning for Offline Reinforcement Learningcited by 1,809
  8. 2019Dream to Control: Learning Behaviors by Latent Imaginationcited by 1,653
  9. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,568
  10. 2024Octo: An Open-Source Generalist Robot Policycited by 1,484
  11. 2020D4RL: Datasets for Deep Data-Driven Reinforcement Learningcited by 1,427
  12. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,293
34 more
  1. 2018Learning Latent Dynamics for Planning from Pixelscited by 1,264
  2. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  3. 2021A Minimalist Approach to Offline Reinforcement Learningcited by 899
  4. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  5. 2020MOPO: Model-based Offline Policy Optimizationcited by 636
  6. 2023AudioLDM: Text-to-Audio Generation with Latent Diffusion Modelscited by 599
  7. 2017Generative Adversarial Networks: An Overviewcited by 590
  8. 2022Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learningcited by 562
  9. 2022Is Conditional Generative Modeling all you need for Decision-Making?cited by 516
  10. 2023TD-MPC2: Scalable, Robust World Models for Continuous Controlcited by 512
  11. 2023Learning Interactive Real-World Simulatorscited by 458
  12. 2021Implicit Behavioral Cloningcited by 452
  13. 2022Temporal Difference Learning for Model Predictive Controlcited by 397
  14. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learningcited by 384
  15. 2023IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policiescited by 325
  16. 2023Imitating Human Behaviour with Diffusion Modelscited by 263
  17. 2022Continuous diffusion for categorical datacited by 214
  18. 2022Offline Reinforcement Learning via High-Fidelity Generative Behavior Modelingcited by 182
  19. 2023Efficient Diffusion Policies for Offline Reinforcement Learningcited by 157
  20. 2023AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Plannerscited by 149
  21. 2023Contrastive Energy Prediction for Exact Energy-Guided Diffusion Sampling in Offline Reinforcement Learningcited by 149
  22. 2022CORL: Research-oriented Deep Offline Reinforcement Learning Librarycited by 119
  23. 2020Learning to Generalize Across Long-Horizon Tasks from Human Demonstrationscited by 115
  24. 2023Synthetic Experience Replaycited by 101
  25. 2023Diffusion Models for Reinforcement Learning: A Surveycited by 91
  26. 2023MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RLcited by 68
  27. 2023The Blessing of Randomness: SDE Beats ODE in General Diffusion-based Image Editingcited by 62
  28. 2024DiffuserLite: Towards Real-time Diffusion Planningcited by 42
  29. 2023AlignDiff: Aligning Diverse Human Preferences via Behavior-Customisable Diffusion Modelcited by 37
  30. 2021HyAR: Addressing Discrete-Continuous Action Reinforcement Learning via Hybrid Action Representationcited by 35
  31. 2023DiffCPS: Diffusion Model based Constrained Policy Search for Offline Reinforcement Learningcited by 28
  32. 2022Language Control Diffusion: Efficiently Scaling through Space, Time, and Taskscited by 20
  33. 2023Instructed Diffuser with Temporal Condition Guidance for Offline Reinforcement Learningcited by 13
  34. 2022S2P: State-conditioned Image Synthesis for Data Augmentation in Offline Reinforcement Learningcited by 9

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 5; 2025: 20; 2026: 14.

39 papers.

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By area:

  1. 2024IRASim: A Fine-Grained World Model for Robot Manipulationcited by 100
  2. 2025What Makes a Good Diffusion Planner for Decision Making?cited by 38
  3. 2025Much Ado About Noising: Dispelling the Myths of Generative Robotic Controlcited by 36
  4. 2025One-Step Flow Q-Learning: Addressing the Diffusion Policy Bottleneck in Offline Reinforcement Learningcited by 11
  5. 2025X-IL: Exploring the Design Space of Imitation Learning Policiescited by 10
  6. 2025Conditioning Matters: Training Diffusion Policies is Faster Than You Thinkcited by 9
  7. 2025Local Manifold Approximation and Projection for Manifold-Aware Diffusion Planningcited by 9
  8. 2024Preference Aligned Diffusion Planner for Quadrupedal Locomotion Controlcited by 7
  9. 2025Habitizing Diffusion Planning for Efficient and Effective Decision Makingcited by 7
  10. 2025Multi-Loco: Unifying Multi-Embodiment Legged Locomotion via Reinforcement Learning Augmented Diffusioncited by 7
  11. 2025DmC: Nearest Neighbor Guidance Diffusion Model for Offline Cross-domain Reinforcement Learningcited by 7
  12. 2026VPWEM: Non-Markovian Visuomotor Policy with Working and Episodic Memorycited by 6
27 more
  1. 2025EmbodiedMAE: A Unified 3D Multi-Modal Representation for Robot Manipulationcited by 5
  2. 2025Generative Auto-Bidding in Large-Scale Competitive Auctions via Diffusion Completer-Alignercited by 5
  3. 2026ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matchingcited by 5
  4. 2024MODULI: Unlocking Preference Generalization via Diffusion Models for Offline Multi-Objective Reinforcement Learningcited by 4
  5. 2024Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersectionscited by 4
  6. 2025BiTrajDiff: Bidirectional Trajectory Generation with Diffusion Models for Offline Reinforcement Learningcited by 4
  7. 2025Tree-Guided Diffusion Plannercited by 4
  8. 2026Generative Control as Optimization: Time Unconditional Flow Matching for Adaptive and Robust Robotic Controlcited by 3
  9. 2024Sub-DM:Subspace Diffusion Model with Orthogonal Decomposition for MRI Reconstructioncited by 2
  10. 2025Maximize Your Diffusion: A Study into Reward Maximization and Alignment for Diffusion-based Controlcited by 2
  11. 2025STITCH-OPE: Trajectory Stitching with Guided Diffusion for Off-Policy Evaluationcited by 2
  12. 2026Refining Compositional Diffusion for Reliable Long-Horizon Planningcited by 2
  13. 2026Fast and Highly Expressive Policy Learning for Offline Reinforcement Learning via Bootstrapped Flow Q-Learningcited by 2
  14. 2025DRDT3: Diffusion-Refined Decision Test-Time Training Modelcited by 1
  15. 2026Contractive Diffusion Policies: Robust Action Diffusion via Contractive Score-Based Sampling with Differential Equationscited by 1
  16. 2026Improving Diffusion Planners by Self-Supervised Action Gating with Energiescited by 1
  17. 2026RS-Diffuser: Risk-Sensitive Diffusion Planning with Distributional Value Guidancecited by 1
  18. 2025Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliabilitycited by 0
  19. 2025What Do You Need for Compositional Generalization in Diffusion Planning?cited by 0
  20. 2025Fast and Stable Diffusion Planning through Variational Adaptive Weightingcited by 0
  21. 2025Mixed-Density Diffuser: Efficient Planning with Non-Uniform Temporal Resolutioncited by 0
  22. 2026SMAC: Score-Matched Actor-Critics for Robust Offline-to-Online Transfercited by 0
  23. 2026State-Action Inpainting Diffuser for Continuous Control with Delaycited by 0
  24. 2026Dynamic Neural Koopman Distillation for Real-Time Robot Control Using Diffusion Modelscited by 0
  25. 2026Training-Free Imitation Learning with Closed-Form Diffusion Policiescited by 0
  26. 2026Human2Any: Human-to-Robot Transfer via Constraint-Aware Compositional Planningcited by 0
  27. 2026Compositional Average Velocity Modeling for Efficient Diffusion Offline Reinforcement Learningcited by 0

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  1. 2025Responsible Diffusion: A Comprehensive Survey on Safety, Ethics, and Trust in Diffusion Models
  2. 2024An Overview of Diffusion Models: Applications, Guided Generation, Statistical Rates and Optimization
  3. 2025Diffusion Models for Reinforcement Learning: Foundations, Taxonomy, and Development
  4. 2024Alignment of Diffusion Models: Fundamentals, Challenges, and Future
  5. 2025Model-Based Diffusion Sampling for Predictive Control in Offline Decision Making
  6. 2024Generative Diffusion Modeling: A Practical Handbook
  7. 2024Align Your Steps: Optimizing Sampling Schedules in Diffusion Models
  8. 2024TFG: Unified Training-Free Guidance for Diffusion Models