mlsanityData to 7 Oct 2026

EquiBot: SIM(3)-Equivariant Diffusion Policy for Generalizable and Data Efficient Learning

arXiv 2407.01479 ↗First posted 1 Jul 2024cs.RO cs.LGcited by 72

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

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Abstract (arXiv)

Building effective imitation learning methods that enable robots to learn from limited data and still generalize across diverse real-world environments is a long-standing problem in robot learning. We propose Equibot, a robust, data-efficient, and generalizable approach for robot manipulation task learning. Our approach combines SIM(3)-equivariant neural network architectures with diffusion models. This ensures that our learned policies are invariant to changes in scale, rotation, and translation, enhancing their applicability to unseen environments while retaining the benefits of diffusion-based policy learning such as multi-modality and robustness. We show on a suite of 6 simulation tasks that our proposed method reduces the data requirements and improves generalization to novel scenarios. In the real world, with 10 variations of 6 mobile manipulation tasks, we show that our method can easily generalize to novel objects and scenes after learning from just 5 minutes of human demonstrations in each task.

Key facts. Cited by 72 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 49 of its 53 references that are in the map. First posted on arXiv 1 Jul 2024.

Builds on

49 of 53 references.

Closest ancestors · 4

Same direction, newest first

  1. 2023Diffusion-EDFs: Bi-equivariant Denoising Generative Modeling on SE(3) for Visual Robotic Manipulation6 Sep
  2. 2023EquiDiff: A Conditional Equivariant Diffusion Model For Trajectory Prediction12 Aug
  3. 2023EDGI: Equivariant Diffusion for Planning with Embodied Agents22 Mar
  4. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar

Other references · 45

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,604
  3. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 11,979
  4. 2020Denoising Diffusion Implicit Modelscited by 9,655
  5. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  6. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  7. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,777
  8. 2017FiLM: Visual Reasoning with a General Conditioning Layercited by 2,286
  9. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  10. 2023Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardwarecited by 1,490
  11. 2024Octo: An Open-Source Generalist Robot Policycited by 1,427
  12. 2024Grounded SAM: Assembling Open-World Models for Diverse Visual Taskscited by 914
33 more
  1. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 849
  2. 2024DROID: A Large-Scale In-The-Wild Robot Manipulation Datasetcited by 801
  3. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 699
  4. 2022Equivariant Diffusion for Molecule Generation in 3Dcited by 666
  5. 2022GeoDiff: a Geometric Diffusion Model for Molecular Conformation Generationcited by 511
  6. 2021Implicit Behavioral Cloningcited by 442
  7. 2021Vector Neurons: A General Framework for SO(3)-Equivariant Networkscited by 304
  8. 2023Reconstructing Hands in 3D with Transformerscited by 298
  9. 2020Equivariant Flows: Exact Likelihood Generative Learning for Symmetric Densitiescited by 248
  10. 2017One-Shot Imitation Learningcited by 232
  11. 2017One-Shot Visual Imitation Learning via Meta-Learningcited by 225
  12. 2022Structure-based Drug Design with Equivariant Diffusion Modelscited by 213
  13. 2021Neural Descriptor Fields: SE(3)-Equivariant Object Representations for Manipulationcited by 204
  14. 2023Tracking Anything with Decoupled Video Segmentationcited by 197
  15. 20233D Equivariant Diffusion for Target-Aware Molecule Generation and Affinity Predictioncited by 176
  16. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 175
  17. 2018Sim-to-Real via Sim-to-Sim: Data-efficient Robotic Grasping via Randomized-to-Canonical Adaptation Networkscited by 171
  18. 2019Active Domain Randomizationcited by 161
  19. 2022Equivariant 3D-Conditional Diffusion Models for Molecular Linker Designcited by 121
  20. 2022SO(2)-Equivariant Reinforcement Learningcited by 79
  21. 2018Task-Embedded Control Networks for Few-Shot Imitation Learningcited by 65
  22. 2023Waypoint-Based Imitation Learning for Robotic Manipulationcited by 59
  23. 2022Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learningcited by 54
  24. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  25. 2021Towards More Generalizable One-shot Visual Imitation Learningcited by 48
  26. 2022Equivariant Transporter Networkcited by 44
  27. 2023EquivAct: SIM(3)-Equivariant Visuomotor Policies beyond Rigid Object Manipulationcited by 37
  28. 2024Fourier Transporter: Bi-Equivariant Robotic Manipulation in 3Dcited by 32
  29. 2022Neural Grasp Distance Fields for Robot Manipulationcited by 31
  30. 2022USEEK: Unsupervised SE(3)-Equivariant 3D Keypoints for Generalizable Manipulationcited by 27
  31. 2022SEIL: Simulation-augmented Equivariant Imitation Learningcited by 22
  32. 2023EFEM: Equivariant Neural Field Expectation Maximization for 3D Object Segmentation Without Scene Supervisioncited by 18
  33. 2021Learning Periodic Tasks from Human Demonstrationscited by 10

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 14; 2025: 33; 2026: 25.

72 papers.

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By area:

  1. 2024Latent Action Pretraining from Videoscited by 302
  2. 2025DreamGen: Unlocking Generalization in Robot Learning through Video World Modelscited by 168
  3. 2025FLARE: Robot Learning with Implicit World Modelingcited by 105
  4. 2025Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learningcited by 57
  5. 2024Estimating Body and Hand Motion in an Ego-sensed Worldcited by 56
  6. 2024Generalizable Humanoid Manipulation with 3D Diffusion Policiescited by 49
  7. 2024AffordDP: Generalizable Diffusion Policy with Transferable Affordancecited by 35
  8. 2025Much Ado About Noising: Dispelling the Myths of Generative Robotic Controlcited by 35
  9. 2024Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Modelscited by 32
  10. 2025BEHAVIOR Robot Suite: Streamlining Real-World Whole-Body Manipulation for Everyday Household Activitiescited by 29
  11. 2024CARP: Visuomotor Policy Learning via Coarse-to-Fine Autoregressive Predictioncited by 26
  12. 2024ET-SEED: Efficient Trajectory-Level SE(3) Equivariant Diffusion Policycited by 24
38 more
  1. 2025SKIL: Semantic Keypoint Imitation Learning for Generalizable Data-efficient Manipulationcited by 21
  2. 2025AC-DiT: Adaptive Coordination Diffusion Transformer for Mobile Manipulationcited by 21
  3. 2024Fast and Robust Visuomotor Riemannian Flow Matching Policycited by 18
  4. 2025A Survey of Robotic Navigation and Manipulation with Physics Simulators in the Era of Embodied AIcited by 16
  5. 2025Falcon: Fast Visuomotor Policies via Partial Denoisingcited by 14
  6. 2025Do You Know Where Your Camera Is? View-Invariant Policy Learning with Camera Conditioningcited by 14
  7. 2025IMLE Policy: Fast and Sample Efficient Visuomotor Policy Learning via Implicit Maximum Likelihood Estimationcited by 13
  8. 2024Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillationcited by 12
  9. 2025Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objectscited by 10
  10. 2024What's the Move? Hybrid Imitation Learning via Salient Pointscited by 9
  11. 2025Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulationcited by 9
  12. 2025Mobi-π: Mobilizing Your Robot Learning Policycited by 9
  13. 2025FreqPolicy: Frequency Autoregressive Visuomotor Policy with Continuous Tokenscited by 9
  14. 2025UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policiescited by 9
  15. 2025SE(3)-Equivariant Robot Learning and Control: A Tutorial Surveycited by 8
  16. 20254D Visual Pre-training for Robot Learningcited by 8
  17. 2025SE(3)-Equivariant Diffusion Policy in Spherical Fourier Spacecited by 7
  18. 2025MoMaGen: Generating Demonstrations under Soft and Hard Constraints for Multi-Step Bimanual Mobile Manipulationcited by 7
  19. 2024EqvAfford: SE(3) Equivariance for Point-Level Affordance Learningcited by 6
  20. 2024MATCH POLICY: A Simple Pipeline from Point Cloud Registration to Manipulation Policiescited by 6
  21. 2025Constraint-Preserving Data Generation for Visuomotor Policy Learningcited by 6
  22. 2026SkillVLA: Tackling Combinatorial Diversity in Dual-Arm Manipulation via Skill Reusecited by 5
  23. 2025A Practical Guide for Incorporating Symmetry in Diffusion Policycited by 4
  24. 20253D Equivariant Visuomotor Policy Learning via Spherical Projectioncited by 4
  25. 2025ADPro: a Test-time Adaptive Diffusion Policy via Manifold-constrained Denoising and Task-aware Initialization for Robotic Manipulationcited by 4
  26. 2025EfficientFlow: Efficient Equivariant Flow Policy Learning for Embodied AIcited by 4
  27. 2025OMP: One-step Meanflow Policy with Directional Alignmentcited by 4
  28. 2025Your Language Model May Think Too Rigidly: Achieving Reasoning Consistency with Symmetry-Enhanced Trainingcited by 3
  29. 2025Robotic Manipulation via Imitation Learning: Taxonomy, Evolution, Benchmark, and Challengescited by 3
  30. 2026Learning Part-Aware Dense 3D Feature Field for Generalizable Articulated Object Manipulationcited by 3
  31. 2024Non-rigid Relative Placement through 3D Dense Diffusioncited by 2
  32. 2025Learning Generalizable Shape Completion with SIM(3) Equivariancecited by 2
  33. 2025Generalizable Hierarchical Skill Learning via Object-Centric Representationcited by 2
  34. 2025Language-Conditioned Representations and Mixture-of-Experts Policy for Robust Multi-Task Robotic Manipulationcited by 2
  35. 2026Efficient Hybrid SE(3)-Equivariant Visuomotor Flow Policy via Spherical Harmonics for Robot Manipulationcited by 1
  36. 2026StereoPolicy: Improving Robotic Manipulation Policies via Stereo Perceptioncited by 1
  37. 2026Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Correctionscited by 1
  38. 2026EquiVLA: A General Framework for Rotationally Equivariant Vision-Language-Action Modelscited by 1

50 most cited of 72 All 72 (JSON)

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Close in wording, no citation either way

  1. 2025Eq.Bot: Enhance Robotic Manipulation Learning via Group Equivariant Canonicalization
  2. 2025Latent Diffusion Planning for Imitation Learning
  3. 2026EquiBim: Learning Symmetry-Equivariant Policy for Bimanual Manipulation
  4. 2025DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets
  5. 2025Diffusion Models for Robotic Manipulation: A Survey
  6. 2024Equivariant Offline Reinforcement Learning
  7. 2026Abstracting Robot Manipulation Skills via Mixture-of-Experts Diffusion Policies
  8. 2022Learning and Extrapolation of Robotic Skills using Task-Parameterized Equation Learner Networks