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

We present DemoDiffusion: a simple and scalable method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring any paired human-robot data. DemoDiffusion refines a re-targeted human demonstration trajectory using a pre-trained generalist diffusion policy, efficiently bridging the embodiment gap and enabling the robot to succeed even on tasks where the pre-trained generalist policy fails entirely.