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Diffusion Policy Policy Optimization
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2026-01-30 07:13:52
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Diffusion Policy Policy Optimization Diffusion Policy Policy Optimization Allen Z. Ren Justin Lidard Lars L. Ankile Anthony Simeonov Pulkit Agrawal Anirudha Majumdar Benjamin Burchfiel Hongkai Dai Max Simchowitz Paper Code TL;DR: We introduce DPPO, an algorithmic framework and set of best practices for fine-tuning diffusion-based policies in continuous control and robot learning tasks. DPPO shows marked improvements over diffusion and non-diffusion baselines alike, across a variety of tasks and sim-to-real transfer. Approach overview DPPO introduces a two-layer Diffusion Policy MDP with the inner MDP representing the denoising process and the outer MDP representing the environment --- each step of the entire MDP involves Gaussian likelihood and thus can be optimized with policy gradient. DPPO builds upon Proximal Policy Optimization (PPO) and proposes a set of best practices ...
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