相关论文: RoDiF: Robust Direct Fine-Tuning of Diffusion Poli…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Without using explicit reward, direct preference optimization (DPO) employs paired human preference data to fine-tune generative models, a method that has garnered considerable attention in large language models (LLMs). However, exploration…

Using reinforcement learning with human feedback (RLHF) has shown significant promise in fine-tuning diffusion models. Previous methods start by training a reward model that aligns with human preferences, then leverage RL techniques to…

Diffusion Models have revolutionized the field of human motion generation by offering exceptional generation quality and fine-grained controllability through natural language conditioning. Their inherent stochasticity, that is the ability…

Direct preference optimization (DPO) methods have shown strong potential in aligning text-to-image diffusion models with human preferences by training on paired comparisons. These methods improve training stability by avoiding the REINFORCE…

Direct Preference Optimization (DPO) has emerged as a predominant alignment method for diffusion models, facilitating off-policy training without explicit reward modeling. However, its reliance on large-scale, high-quality human preference…

Diffusion models have achieved state-of-the-art performance across multiple domains, with recent advancements extending their applicability to discrete data. However, aligning discrete diffusion models with task-specific preferences remains…

Direct preference optimization (DPO) has shown success in aligning diffusion models with human preference. Previous approaches typically assume a consistent preference label between final generations and noisy samples at intermediate steps,…

Direct Preference Optimization (DPO) has become a popular method for fine-tuning large language models (LLMs) due to its stability and simplicity. However, it is also known to be sensitive to noise in the data and prone to overfitting.…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

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.…

Direct Preference Optimization (DPO) aligns text-to-image (T2I) generation models with human preferences using pairwise preference data. Although substantial resources are expended in collecting and labeling datasets, a critical aspect is…

Text-to-image diffusion models deliver high-quality images, yet aligning them with human preferences remains challenging. We revisit diffusion-based Direct Preference Optimization (DPO) for these models and identify a critical pathology:…

Large language models (LLMs) are fine-tuned using human comparison data with Reinforcement Learning from Human Feedback (RLHF) methods to make them better aligned with users' preferences. In contrast to LLMs, human preference learning has…

Recent studies have shown the great potential of diffusion models in improving reinforcement learning (RL) by modeling complex policies, expressing a high degree of multi-modality, and efficiently handling high-dimensional continuous…

Decision-making under distribution shift is a central challenge in reinforcement learning (RL), where training and deployment environments differ. We study this problem through the lens of robust Markov decision processes (RMDPs), which…

Diffusion policies excel at robotic manipulation by naturally modeling multimodal action distributions in high-dimensional spaces. Nevertheless, diffusion policies suffer from diffusion representation collapse: semantically similar…

We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy…

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…