ExpertGen generates high-success expert policies in simulation from imperfect priors by freezing a diffusion behavior model and optimizing its initial noise via RL, then distills them for real-robot deployment.
Vlabench: A large-scale benchmark for language-conditioned robotics manipula- tion with long-horizon reasoning tasks
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ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priors
ExpertGen generates high-success expert policies in simulation from imperfect priors by freezing a diffusion behavior model and optimizing its initial noise via RL, then distills them for real-robot deployment.