@misc{chi2023diffusion,
  title={Diffusion Policy: Visuomotor Policy Learning via Action Diffusion},
  author={Cheng Chi and Zhenjia Xu and Siyuan Feng and Eric Cousineau and Yilun Du and Benjamin Burchfiel and Russ Tedrake and Shuran Song},
  year={2023},
  eprint={2303.04137},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  url={https://arxiv.org/abs/2303.04137}
}