SDP constructs sets of desired action-chunks from human correction pairs and trains diffusion policies to align with those sets, yielding better performance and robustness than standard behavior cloning on robotic tasks.
Counterfactual behavior cloning: Offline imitation learning from imperfect human demonstra- tions.arXiv preprint arXiv:2505.10760, 2025
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Set-Supervised Diffusion Policy: Learning Action-Chunking Diffusion through Corrections
SDP constructs sets of desired action-chunks from human correction pairs and trains diffusion policies to align with those sets, yielding better performance and robustness than standard behavior cloning on robotic tasks.