OGPO enables sample-efficient full-finetuning of generative control policies via off-policy critics and modified PPO, achieving SOTA on robot manipulation tasks while rescuing poorly initialized behavior cloning policies without expert data.
Diffusion models for robotic manipulation: A survey
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OGPO: Sample Efficient Full-Finetuning of Generative Control Policies
OGPO enables sample-efficient full-finetuning of generative control policies via off-policy critics and modified PPO, achieving SOTA on robot manipulation tasks while rescuing poorly initialized behavior cloning policies without expert data.