Related papers: Diffusion Policy Policy Optimization
We study an LLM fine-tuning task for designing reward functions for sequential resource allocation problems in public health, guided by human preferences expressed in natural language. This setting presents a challenging testbed for…
Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…
Aligning text-to-image (T2I) diffusion models with human preferences has emerged as a critical research challenge. While recent advances in this area have extended preference optimization techniques from large language models (LLMs) to the…
Masked diffusion large language models (dLLMs) are emerging as promising alternatives to autoregressive LLMs, offering competitive performance while supporting unique generation capabilities such as inpainting. We explore how inpainting can…
Proximal policy optimization (PPO) has yielded state-of-the-art results in policy search, a subfield of reinforcement learning, with one of its key points being the use of a surrogate objective function to restrict the step size at each…
Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…
Offline Reinforcement Learning (RL) learns optimal policies from fixed datasets, training a policy once and deploying it at inference time without further refinement. Inspired by model predictive control (MPC), we introduce an inference…
Humans naturally develop preferences for how manipulation tasks should be performed, which are often subtle, personal, and difficult to articulate. Although it is important for robots to account for these preferences to increase…
Aligning generative diffusion models with human preferences via reinforcement learning (RL) is critical yet challenging. Most existing algorithms are often vulnerable to reward hacking, such as quality degradation, over-stylization, or…
We propose Diffusion-Sharpening, a fine-tuning approach that enhances downstream alignment by optimizing sampling trajectories. Existing RL-based fine-tuning methods focus on single training timesteps and neglect trajectory-level alignment,…
For many applications of reinforcement learning it can be more convenient to specify both a reward function and constraints, rather than trying to design behavior through the reward function. For example, systems that physically interact…
Offline reinforcement learning methods hold the promise of learning policies from pre-collected datasets without the need to query the environment for new transitions. This setting is particularly well-suited for continuous control robotic…
Existing post-training techniques are broadly categorized into supervised fine-tuning (SFT) and reinforcement learning (RL) methods; the former is stable during training but suffers from limited generalization, while the latter, despite its…
Recent advancements in post-training methodologies for large language models (LLMs) have highlighted reinforcement learning (RL) as a critical component for enhancing reasoning. However, the substantial computational costs associated with…
Hybrid Group Relative Policy Optimization (Hybrid GRPO) is a reinforcement learning framework that extends Proximal Policy Optimization (PPO) and Group Relative Policy Optimization (GRPO) by incorporating empirical multi-sample action…
The Group Relative Policy Optimization (GRPO), a reinforcement learning method used to fine-tune large language models (LLMs), has proved its effectiveness in practical applications such as DeepSeek-R1. It raises a question whether GRPO can…
Reinforcement learning from human feedback (RLHF) has been popular for aligning text-to-image (T2I) diffusion models with human preferences. As a mainstream branch of RLHF, Direct Preference Optimization (DPO) offers a computationally…
Reinforcement learning (RL) has become central to enhancing reasoning in large language models (LLMs). Yet on-policy algorithms such as Group Relative Policy Optimization (GRPO) often suffer in early training: noisy gradients from…
This paper presents a comparison between two well-known deep Reinforcement Learning (RL) algorithms: Deep Q-Learning (DQN) and Proximal Policy Optimization (PPO) in a simulated production system. We utilize a Petri Net (PN)-based simulation…
Model-free reinforcement learning algorithms have seen remarkable progress, but key challenges remain. Trust Region Policy Optimization (TRPO) is known for ensuring monotonic policy improvement through conservative updates within a trust…