Related papers: Fine-tuning Diffusion Policies with Backpropagatio…

Diffusion policies have emerged as a powerful approach for robotic control, demonstrating superior expressiveness in modeling multimodal action distributions compared to conventional policy networks. However, their integration with online…

Reinforcement learning (RL) has shown extraordinary potential in aligning diffusion models to downstream tasks, yet most of them still suffer from significant reward hacking, which degrades generative diversity and quality by inducing…

Efficiently aligning large-scale video diffusion models with human intent requires a scalable and trajectory-aware pathway that bridges the inherent discrepancy between training noise distributions and practical inference trajectories.…

Large language models (LLMs) have demonstrated exceptional performance across various applications, but their conversational abilities decline sharply as model size decreases, presenting a barrier to their deployment in resource-constrained…

Performative prediction aims to model scenarios where predictive outcomes subsequently influence the very systems they target. The pursuit of a performative optimum (PO) -- minimizing performative risk -- is generally reliant on modeling of…

Offline reinforcement learning (RL) aims to learn optimal policies from offline datasets, where the parameterization of policies is crucial but often overlooked. Recently, Diffsuion-QL significantly boosts the performance of offline RL by…

This paper studies full-body 3D human motion recovery from head-mounted device signals. Existing diffusion-based methods often rely on global distribution matching, leading to local joint reconstruction errors. We propose MotionGRPO, a…

Reinforcement Learning with Verifiable Rewards (RLVR) has achieved remarkable success in improving autoregressive models, especially in domains requiring correctness like mathematical reasoning and code generation. However, directly…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

We aim to solve the problem of generating coarse-to-fine skills learning from demonstrations (LfD). To scale precision, traditional LfD approaches often rely on extensive fine-grained demonstrations with external interpolations or dynamics…

Reinforcement learning algorithms require a large amount of samples; this often limits their real-world applications on even simple tasks. Such a challenge is more outstanding in multi-agent tasks, as each step of operation is more costly…

Diffusion models excel at sampling from complex, unnormalized distributions. In this work, we extend Maximum Entropy Reinforcement Learning (ME-RL) to diffusion processes, enabling sampling from the optimal policy trajectory distribution.…

Denoising diffusion probabilistic models (DDPM) are a class of generative models which have recently been shown to produce excellent samples. We show that with a few simple modifications, DDPMs can also achieve competitive log-likelihoods…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…

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…

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid…

Proximal policy optimization (PPO) is one of the most successful deep reinforcement-learning methods, achieving state-of-the-art performance across a wide range of challenging tasks. However, its optimization behavior is still far from…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next…