mlsanityData to 7 Oct 2026

TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation

arXiv 2409.11047 ↗First posted 17 Sep 2024cs.ROcited by 23

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

Abstract (arXiv)

Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This paper presents a novel framework that utilizes diffusion models to generate 6D wrench for high-precision tactile robotic insertion tasks. It learns from demonstrations performed on a single task and achieves a zero-shot transfer success rate of 95.7% across various novel high-precision tasks. Our method effectively inherits the self-adaptability demonstrated by our previous work. In this framework, we address the frequency misalignment between the diffusion policy and the real-time control loop with a dynamic system-based filter, significantly improving the task success rate by 9.15%. Furthermore, we provide a practical guideline regarding the trade-off between diffusion models' inference ability and speed.

Key facts. Cited by 23 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 31 of its 46 references that are in the map. First posted on arXiv 17 Sep 2024.

Builds on

31 of 46 references.

Closest ancestors · 9

Same direction, newest first

  1. 2023Zero-Shot Robotic Manipulation with Pretrained Image-Editing Diffusion Models16 Oct
  2. 2023Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models13 Oct
  3. 2023NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration11 Oct
  4. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models3 Aug
  5. 2023Goal-Conditioned Imitation Learning using Score-based Diffusion Policies5 Apr
  6. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar
  7. 2023ReorientDiff: Diffusion Model based Reorientation for Object Manipulation28 Feb
  8. 2023Imitating Human Behaviour with Diffusion Models25 Jan
  9. 2022DALL-E-Bot: Introducing Web-Scale Diffusion Models to Robotics5 Oct

Other references · 22

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,736
  3. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
  4. 2023PaLM-E: An Embodied Multimodal Language Modelcited by 2,037
  5. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  6. 2016Identity Mappings in Deep Residual Networkscited by 1,960
  7. 2022Perceiver-Actor: A Multi-Task Transformer for Robotic Manipulationcited by 545
  8. 2024RVT-2: Learning Precise Manipulation from Few Demonstrationscited by 135
  9. 2023Predict, Refine, Synthesize: Self-Guiding Diffusion Models for Probabilistic Time Series Forecastingcited by 86
  10. 2023On the Generalization Properties of Diffusion Modelscited by 67
  11. 2024A Survey on Diffusion Models for Time Series and Spatio-Temporal Datacited by 66
  12. 2023IndustReal: Transferring Contact-Rich Assembly Tasks from Simulation to Realitycited by 44
10 more
  1. 2017Deep Reinforcement Learning for High Precision Assembly Taskscited by 37
  2. 2021Offline Meta-Reinforcement Learning for Industrial Insertioncited by 37
  3. 2019Reinforcement Learning on Variable Impedance Controller for High-Precision Robotic Assemblycited by 33
  4. 2020Meta-Reinforcement Learning for Robotic Industrial Insertion Taskscited by 28
  5. 2020Variable Compliance Control for Robotic Peg-in-Hole Assembly: A Deep Reinforcement Learning Approachcited by 25
  6. 2024AutoMate: Specialist and Generalist Assembly Policies over Diverse Geometriescited by 20
  7. 2022Meta-Reinforcement Learning via Language Instructionscited by 18
  8. 2018A Framework for Robot Manipulation: Skill Formalism, Meta Learning and Adaptive Controlcited by 15
  9. 2021InsertionNet -- A Scalable Solution for Insertioncited by 15
  10. 2022InsertionNet 2.0: Minimal Contact Multi-Step Insertion Using Multimodal Multiview Sensory Inputcited by 9

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 2; 2025: 11; 2026: 10.

23 papers.

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  1. 2025ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulationcited by 87
  2. 2025FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learningcited by 31
  3. 2025TA-VLA: Elucidating the Design Space of Torque-aware Vision-Language-Action Modelscited by 30
  4. 2026FD-VLA: Force-Distilled Vision-Language-Action Model for Contact-Rich Manipulationcited by 15
  5. 2025Robotic Compliant Object Prying Using Diffusion Policy Guided by Vision and Force Observationscited by 9
  6. 2025Latent Theory of Mind: A Decentralized Diffusion Architecture for Cooperative Manipulationcited by 9
  7. 2025SafeBimanual: Diffusion-based Trajectory Optimization for Safe Bimanual Manipulationcited by 9
  8. 2024Language Conditioned Multi-Finger Dexterous Manipulation Enabled by Physical Compliance and Switching of Controllerscited by 8
  9. 2025ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learningcited by 8
  10. 2024Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulationcited by 6
  11. 2025FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Taskscited by 6
  12. 2026ForceFlow: Learning to Feel and Act via Contact-Driven Flow Matchingcited by 5
11 more
  1. 2025Multimodal Diffusion Forcing for Forceful Manipulationcited by 3
  2. 2026Dreaming the Unseen: World Model-regularized Diffusion Policy for Out-of-Distribution Robustnesscited by 2
  3. 2026Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Handscited by 2
  4. 2026ForeDiffusion: Foresight-Conditioned Diffusion Policy via Future View Construction for Robot Manipulationcited by 1
  5. 2025AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Usecited by 0
  6. 2025TranTac: Leveraging Transient Tactile Signals for Contact-Rich Robotic Manipulationcited by 0
  7. 2026SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policycited by 0
  8. 2026Spatially Conditioned Diffusion Policy: Learning Precise and Robust Manipulation with a Single RGB Cameracited by 0
  9. 2026TAP-VLA: Tactile Annotation Prompting for Vision Language Action Modelscited by 0
  10. 2026CR-VLA-Force: Learning Control-aware Compliance VLA Model for Robust Contact-rich Robotic Manipulationcited by 0
  11. 2026ForeTac-VLA: A Forecasting-Based Tactile-Vision-Language-Action Model for Contact-Rich Robotic Manipulationcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
  2. 2026A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces
  3. 2026ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks ↗
  4. 2026PEARS: Physical-Prior-Guided Efficient Adaptation via Failure Reasoning and Diffusion Steering for Tactile Manipulation
  5. 2025Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation
  6. 2026Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
  7. 2025VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning
  8. 2026TacForeSight: Force-Guided Tactile World Model for Contact-Rich Manipulation