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DemoDiffusion
DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy
Carnegie Mellon University
Overview
Experiments
1. Task Rollouts (x2 speed for robot)
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
Human Demonstration
DemoDiffusion
2. Comparison to Baselines (x2 speed for robot)
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
3. Zero-Shot Generalization to New Objects (x2 speed for robot)
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
Pi-0
Kinematic Retargeting
DemoDiffusion
4. Detailed Results for Hand Reconstruction and Robot Execution
Task: Drag the Basket to the Right
BibTeX
@misc{park2025demodiffusiononeshothumanimitation,
title={DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy},
author={Sungjae Park and Homanga Bharadhwaj and Shubham Tulsiani},
year={2025},
eprint={2506.20668},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2506.20668},
}