A diffusion-model denoising loss serves as an intrinsic reward to guide unsupervised RL exploration, plus an alternating fine-tuning scheme for diffusion policies.
Explore, discover and learn: Unsupervised discovery of state-covering skills
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Exploratory Diffusion Model for Unsupervised Reinforcement Learning
A diffusion-model denoising loss serves as an intrinsic reward to guide unsupervised RL exploration, plus an alternating fine-tuning scheme for diffusion policies.