相关论文: Stochastic MeanFlow Policies: One-Step Generative …

Flow-based image generative models exhibit stable training and produce high quality samples when using multi-step sampling procedures. One-step generative models can produce high quality image samples but can be difficult to optimize as…

Recent works in Reinforcement Learning (RL) combine model-free (Mf)-RL algorithms with model-based (Mb)-RL approaches to get the best from both: asymptotic performance of Mf-RL and high sample-efficiency of Mb-RL. Inspired by these works,…

Learning control policies for real-world robotic tasks often involve challenges such as multimodality, local discontinuities, and the need for computational efficiency. These challenges arise from the complexity of robotic environments,…

Generative robot policies such as Flow Matching offer flexible, multi-modal policy learning but are sample-inefficient. Although object-centric policies improve sample efficiency, it does not resolve this limitation. In this work, we…

We present new policy mirror descent (PMD) methods for solving reinforcement learning (RL) problems with either strongly convex or general convex regularizers. By exploring the structural properties of these overall highly nonconvex…

Diffusion policies have demonstrated exceptional performance in embodied AI. However, their iterative denoising process results in high latency, and existing acceleration methods often sacrifice physical consistency. To address this, we…

The Soft Actor-Critic (SAC) algorithm with a Gaussian policy has become a mainstream implementation for realizing the Maximum Entropy Reinforcement Learning (MaxEnt RL) objective, which incorporates entropy maximization to encourage…

Mean flow (MeanFlow) enables efficient, high-fidelity image generation, yet its single-function evaluation (1-NFE) generation often cannot yield compelling results. We address this issue by introducing RMFlow, an efficient multimodal…

Reinforcement learning with verifiable rewards (RLVR) has become a standard paradigm for post-training large language models. While Group Relative Policy Optimization (GRPO) is widely adopted, its coarse credit assignment uniformly…

Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and textual instructions. Often, training demonstrations are…

Flow Matching enables simulation-free training of generative models on Riemannian manifolds, yet sampling typically still relies on numerically integrating a probability-flow ODE. We propose Riemannian MeanFlow (RMF), extending MeanFlow to…

Entropy regularization has been widely used in policy optimization algorithms to enhance exploration and the robustness of the optimal control; however it also introduces an additional regularization bias. This work quantifies the impact of…

This paper investigates group distributionally robust optimization (GDRO) with the goal of learning a model that performs well over $m$ different distributions. First, we formulate GDRO as a stochastic convex-concave saddle-point problem,…

Integrating expressive generative policies, such as flow-matching models, into offline reinforcement learning (RL) allows agents to capture complex, multi-modal behaviors. While Q-learning with Adjoint Matching (QAM) stabilizes policy…

Solving the Goal-Conditioned Reward Sparse (GCRS) task is a challenging reinforcement learning problem due to the sparsity of reward signals. In this work, we propose a new formulation of GCRS tasks from the perspective of the drifted…

We propose a general framework for entropy-regularized average-reward reinforcement learning in Markov decision processes (MDPs). Our approach is based on extending the linear-programming formulation of policy optimization in MDPs to…

Recent reinforcement learning has enhanced the flow matching models on human preference alignment. While stochastic sampling enables the exploration of denoising directions, existing methods which optimize over multiple denoising steps…

We propose ReinFlow, a simple yet effective online reinforcement learning (RL) framework that fine-tunes a family of flow matching policies for continuous robotic control. Derived from rigorous RL theory, ReinFlow injects learnable noise…

Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong potential in modeling multi-modal behaviors, enabling more…

Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…