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cs.RO2026
P3: Persistent Particle Planning for Constrained Diffusion Control
Hikmet Simsir, Mahyar Fardinfar, Ozgur S. Oguz
Diffusion models provide expressive priors over trajectories, but adapting these priors to test-time constraints requires maintaining feasibility and consistency across successive…
cs.LG2026
Reachability-Aware Diffusion Policy Optimization
Hikmet Simsir, Kutay Demiray, Ozgur S. Oguz
Diffusion policies provide expressive action distributions for continuous-control reinforcement learning. However, safety-aware online diffusion policy optimization remains underex…
cs.LG2026
Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies
Hikmet Simsir, Ozgur S. Oguz
Behavior cloning with high-capacity generative policies achieves strong imitation performance, but is often limited by demonstration coverage and distribution shift. Direct reinfor…