TMRL bridges behavioral cloning pretraining and RL finetuning via diffusion noise and timestep modulation to enable controlled exploration, improving sample efficiency and enabling real-world robot training in under one hour.
Peek: Guiding and minimal image representations for zero-shot gener- alization of robot manipulation policies
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TMRL: Diffusion Timestep-Modulated Pretraining Enables Exploration for Efficient Policy Finetuning
TMRL bridges behavioral cloning pretraining and RL finetuning via diffusion noise and timestep modulation to enable controlled exploration, improving sample efficiency and enabling real-world robot training in under one hour.