#policy fine‑tuning

topicpolicy fine‑tuning

2 papers · 1 filter

cs.RO2026

X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching

Tianyu Yang, Yiming Zeng, Wenzhe Cai +5

The paper introduces X-NavDP, a diffusion-based visual navigation policy that is fine‑tuned with a novel Group Q-score Reweighted Matching (GQRM) reinforcement learning framework t…

cs.LG2026

Do You Really Need to Pretrain Q-Functions for Online RL Fine-Tuning?

Perry Dong, Ron Polonsky, Dorsa Sadigh +2

The paper investigates whether pretraining Q-functions is beneficial when fine‑tuning a pretrained policy in online reinforcement learning, finding that naive Q‑function pretrainin…