# Make-An-Agent: A Generalizable Policy Network Generator with Behavior-Prompted Diffusion

arXiv: https://arxiv.org/abs/2407.10973 · HTML: https://mlsanity.com/paper/2407.10973/

## Key facts

- Cited by 14 papers in the map (data through 14 Oct 2026).
- Builds on 29 of its 32 references that are in the map.
- First posted on arXiv 15 Jul 2024.

## Builds on (most cited first, 29 of 29)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Decision Transformer: Reinforcement Learning via Sequence Modeling](https://mlsanity.com/paper/2106.01345/) (2021)
- [Meta-World: A Benchmark and Evaluation for Multi-Task and Meta Reinforcement Learning](https://mlsanity.com/paper/1910.10897/) (2019)
- [HyperNetworks](https://mlsanity.com/paper/1609.09106/) (2016)
- [robosuite: A Modular Simulation Framework and Benchmark for Robot Learning](https://mlsanity.com/paper/2009.12293/) (2020)
- [RL2: Fast Reinforcement Learning via Slow Reinforcement Learning](https://mlsanity.com/paper/1611.02779/) (2016)
- [Behavioral Cloning from Observation](https://mlsanity.com/paper/1805.01954/) (2018)
- [One-Shot Imitation Learning](https://mlsanity.com/paper/1703.07326/) (2017)
- [One-Shot Visual Imitation Learning via Meta-Learning](https://mlsanity.com/paper/1709.04905/) (2017)
- [Multi-Task Reinforcement Learning with Context-based Representations](https://mlsanity.com/paper/2102.06177/) (2021)
- [Multi-Task Reinforcement Learning with Soft Modularization](https://mlsanity.com/paper/2003.13661/) (2020)
- [Walk These Ways: Tuning Robot Control for Generalization with Multiplicity of Behavior](https://mlsanity.com/paper/2212.03238/) (2022)
- [A Brief Review of Hypernetworks in Deep Learning](https://mlsanity.com/paper/2306.06955/) (2023)
- [Learning to Learn with Generative Models of Neural Network Checkpoints](https://mlsanity.com/paper/2209.12892/) (2022)
- [Hyper-Representations as Generative Models: Sampling Unseen Neural Network Weights](https://mlsanity.com/paper/2209.14733/) (2022)
- [HyperTransformer: Model Generation for Supervised and Semi-Supervised Few-Shot Learning](https://mlsanity.com/paper/2201.04182/) (2022)
- [DrM: Mastering Visual Reinforcement Learning through Dormant Ratio Minimization](https://mlsanity.com/paper/2310.19668/) (2023)
- [Hypernetworks in Meta-Reinforcement Learning](https://mlsanity.com/paper/2210.11348/) (2022)
- [MetaDiff: Meta-Learning with Conditional Diffusion for Few-Shot Learning](https://mlsanity.com/paper/2307.16424/) (2023)
- [Unsupervised Meta-Learning for Reinforcement Learning](https://mlsanity.com/paper/1806.04640/) (2018)
- [Hyper-Decision Transformer for Efficient Online Policy Adaptation](https://mlsanity.com/paper/2304.08487/) (2023)
- [Guided Meta-Policy Search](https://mlsanity.com/paper/1904.00956/) (2019)
- [Hypernetworks for Zero-shot Transfer in Reinforcement Learning](https://mlsanity.com/paper/2211.15457/) (2022)
- [ACE : Off-Policy Actor-Critic with Causality-Aware Entropy Regularization](https://mlsanity.com/paper/2402.14528/) (2024)
- [Premier-TACO is a Few-Shot Policy Learner: Pretraining Multitask Representation via Temporal Action-Driven Contrastive Loss](https://mlsanity.com/paper/2402.06187/) (2024)

## Built on by (most cited first, 14 of 14)

- [TraceVLA: Visual Trace Prompting Enhances Spatial-Temporal Awareness for Generalist Robotic Policies](https://mlsanity.com/paper/2412.10345/) (2024)
- [Robots Pre-train Robots: Manipulation-Centric Robotic Representation from Large-Scale Robot Datasets](https://mlsanity.com/paper/2410.22325/) (2024)
- [TraceGen: World Modeling in 3D Trace Space Enables Learning from Cross-Embodiment Videos](https://mlsanity.com/paper/2511.21690/) (2025)
- [Generative Modeling of Weights: Generalization or Memorization?](https://mlsanity.com/paper/2506.07998/) (2025)
- [MomaGraph: State-Aware Unified Scene Graphs with Vision-Language Model for Embodied Task Planning](https://mlsanity.com/paper/2512.16909/) (2025)
- [Robot Trains Robot: Automatic Real-World Policy Adaptation and Learning for Humanoids](https://mlsanity.com/paper/2508.12252/) (2025)
- [HyperVLA: Efficient Inference in Vision-Language-Action Models via Hypernetworks](https://mlsanity.com/paper/2510.04898/) (2025)
- [WARPD: World model Assisted Reactive Policy Diffusion](https://mlsanity.com/paper/2410.14040/) (2024)
- [NNiT: Width-Agnostic Neural Network Generation with Structurally Aligned Weight Spaces](https://mlsanity.com/paper/2603.00180/) (2026)
- [HyperFlow: Gradient-Free Emulation of Few-Shot Fine-Tuning](https://mlsanity.com/paper/2504.15323/) (2025)
- [Robotic Policy Adaptation via Weight-Space Meta-Learning](https://mlsanity.com/paper/2606.07217/) (2026)
- [TeNet: Text-to-Network for Compact Policy Synthesis](https://mlsanity.com/paper/2601.15912/) (2026)
- [Implicit Neural Representations of Individual Behavior](https://mlsanity.com/paper/2606.12200/) (2026)
- [Modeling and Understanding Neural Weights of Humanoid Policies with Diffusion](https://mlsanity.com/paper/2610.20606/) (2026)

## Abstract (arXiv)

Can we generate a control policy for an agent using just one demonstration of desired behaviors as a prompt, as effortlessly as creating an image from a textual description? In this paper, we present Make-An-Agent, a novel policy parameter generator that leverages the power of conditional diffusion models for behavior-to-policy generation. Guided by behavior embeddings that encode trajectory information, our policy generator synthesizes latent parameter representations, which can then be decoded into policy networks. Trained on policy network checkpoints and their corresponding trajectories, our generation model demonstrates remarkable versatility and scalability on multiple tasks and has a strong generalization ability on unseen tasks to output well-performed policies with only few-shot demonstrations as inputs. We showcase its efficacy and efficiency on various domains and tasks, including varying objectives, behaviors, and even across different robot manipulators. Beyond simulation, we directly deploy policies generated by Make-An-Agent onto real-world robots on locomotion tasks. Project page: https://cheryyunl.github.io/make-an-agent/