Papers › Equivariant Diffusion Policy
Equivariant Diffusion Policy
Dian Wang, Stephen Hart, David Surovik, Tarik Kelestemur, Haojie Huang, Haibo Zhao, Mark Yeatman, Jiuguang Wang, Robin Walters, Robert Platt
Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function, which is significantly more complex than learning an explicit policy. In this work, we propose Equivariant Diffusion Policy, a novel diffusion policy learning method that leverages domain symmetries to obtain better sample efficiency and generalization in the denoising function. We theoretically analyze the SO(2) symmetry of full 6-DoF control and characterize when a diffusion model is SO(2)-equivariant. We furthermore evaluate the method empirically on a set of 12 simulation tasks in MimicGen, and show that it obtains a success rate that is, on average, 21.9% higher than the baseline Diffusion Policy. We also evaluate the method on a real-world system to show that effective policies can be learned with relatively few training samples, whereas the baseline Diffusion Policy cannot.
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Tasks
Results from the paper archive 2025-07-28
| Task | Dataset | Model | Metric | Value | Rank at snapshot | Leaderboard | Report |
|---|---|---|---|---|---|---|---|
| Robot Manipulation | MimicGen | EquiDiff (Voxel) | Succ. Rate (12 tasks, 100 demo/task) | 63.9 | #2 of 7 | Archive leaderboard | report |
| Robot Manipulation | MimicGen | EquiDiff (Voxel) | Succ. Rate (12 tasks, 1000 demo/task) | 77.9 | #2 of 7 | Archive leaderboard | report |
| Robot Manipulation | MimicGen | EquiDiff (Voxel) | Succ. Rate (12 tasks, 200 demo/task) | 72.6 | #2 of 7 | Archive leaderboard | report |
| Robot Manipulation | MimicGen | EquiDiff (Image) | Succ. Rate (12 tasks, 100 demo/task) | 53.7 | #3 of 7 | Archive leaderboard | report |
| Robot Manipulation | MimicGen | EquiDiff (Image) | Succ. Rate (12 tasks, 1000 demo/task) | 79.7 | #3 of 7 | Archive leaderboard | report |
| Robot Manipulation | MimicGen | EquiDiff (Image) | Succ. Rate (12 tasks, 200 demo/task) | 68.5 | #3 of 7 | Archive leaderboard | report |
Ranks are positions in the archive's leaderboards as they stood at the 2025-07-28 snapshot. Results published since then are not among these rows, so a rank here is not a current standing.
Methods
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