PACT is a self-evolving post-training framework that projects diffusion policies onto constraint-feasible regions via reverse-KL distillation and a tightening curriculum, reporting 31% fewer safety violations and 30.7% higher task success on embodied manipulation benchmarks.
Systems challenges for trustworthy embodied systems.arXiv preprint arXiv:2201.03413, 2022
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PACT: Self-Evolving Physical Safety Alignment for Diffusion Policies in Embodied Manipulation
PACT is a self-evolving post-training framework that projects diffusion policies onto constraint-feasible regions via reverse-KL distillation and a tightening curriculum, reporting 31% fewer safety violations and 30.7% higher task success on embodied manipulation benchmarks.