arXiv Machine Learning June 16, 2026 By Sungjae Park, Homanga Bharadhwaj, Shubham Tulsiani

DemoDiffusion: One-Shot Human Imitation using pre-trained Diffusion Policy

Read the original on arXiv Machine Learning →

arXiv:2506. 20668v3 Announce Type: replace-cross Abstract: We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data.

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Related stories

GHOST: Hierarchical Sub-Goal Policies for Generalizing Robot Manipulation

The Unreasonable Effectiveness of Discrete-Time Gaussian Process Mixtures for Robot Policy Learning

LUCID: Learning Embodiment-Agnostic Intent Models from Unstructured Human Videos for Scalable Dexterous Robot Skill Acquisition

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