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cs.RO2026
A Single Diffusion-Policy Controller for Multi-Task Block Pushing with Zero-Shot Sim-to-Real Transfer
Haitong Ma, Haldun Balim, Yang Hu +2
Diffusion policies have shown promising empirical performance in representing and learning complex maneuvers for robots using behavior cloning (BC). In this paper, we explore train…
cs.LG2026
GeMPO: Generalized Measure Matching for Online Diffusion Reinforcement Learning
Haitong Ma, Chenxiao Gao, Tianyi Chen +2
A commonly used family of RL algorithms for diffusion policies conducts softmax reweighting over samples from the behavior policy, which often induces an overgreedy policy and fail…
cs.LG2026
Spectral Ghost in Representation Learning: from Component Analysis to Self-Supervised Learning
Bo Dai, Na Li, Dale Schuurmans
Self-supervised learning (SSL) has improved empirical performance by unleashing the power of unlabeled data for practical applications. Specifically, SSL extracts the representatio…