惯性聚合 高效追踪和阅读你感兴趣的博客、新闻、科技资讯
阅读原文 在惯性聚合中打开

推荐订阅源

罗磊的独立博客
L
LangChain Blog
aimingoo的专栏
aimingoo的专栏
IT之家
IT之家
B
Blog
博客园_首页
博客园 - 司徒正美
有赞技术团队
有赞技术团队
博客园 - 聂微东
I
InfoQ
美团技术团队
GbyAI
GbyAI
阮一峰的网络日志
阮一峰的网络日志
H
Help Net Security
大猫的无限游戏
大猫的无限游戏
MyScale Blog
MyScale Blog
WordPress大学
WordPress大学
The GitHub Blog
The GitHub Blog
A
About on SuperTechFans
人人都是产品经理
人人都是产品经理
Microsoft Azure Blog
Microsoft Azure Blog
Engineering at Meta
Engineering at Meta
钛媒体:引领未来商业与生活新知
钛媒体:引领未来商业与生活新知
The Cloudflare Blog

cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Diffusion Policies with Value-Conditional Optimization fo...
Yunchang Ma, Tenglong Liu, Yixing Lan, Xin Yin, Changxin Zhang, · 2025-11-12 · via cs.RO updates on arXiv.org

In offline reinforcement learning, value overestimation caused by out-of-distribution (OOD) actions significantly limits policy performance. Recently, diffusion models have been leveraged for their strong distribution-matching capabilities, enforcing conservatism through behavior policy constraints. However, existing methods often apply indiscriminate regularization to redundant actions in low-quality datasets, resulting in excessive conservatism and an imbalance between the expressiveness and efficiency of diffusion modeling. To address these issues, we propose DIffusion policies with Value-conditional Optimization (DIVO), a novel approach that leverages diffusion models to generate high-quality, broadly covered in-distribution state-action samples while facilitating efficient policy improvement. Specifically, DIVO introduces a binary-weighted mechanism that utilizes the advantage values of actions in the offline dataset to guide diffusion model training. This enables a more precise alignment with the dataset's distribution while selectively expanding the boundaries of high-advantage actions. During policy improvement, DIVO dynamically filters high-return-potential actions from the diffusion model, effectively guiding the learned policy toward better performance. This approach achieves a critical balance between conservatism and explorability in offline RL. We evaluate DIVO on the D4RL benchmark and compare it against state-of-the-art baselines. Empirical results demonstrate that DIVO achieves superior performance, delivering significant improvements in average returns across locomotion tasks and outperforming existing methods in the challenging AntMaze domain, where sparse rewards pose a major difficulty.