DPPO fine-tunes diffusion policies via policy gradients and outperforms prior RL approaches for diffusion policies and PG-tuned alternatives on robot benchmarks while enabling stable training and hardware deployment.
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Diffusion Policy Policy Optimization
DPPO fine-tunes diffusion policies via policy gradients and outperforms prior RL approaches for diffusion policies and PG-tuned alternatives on robot benchmarks while enabling stable training and hardware deployment.