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Flow-matching policies have emerged as a powerful paradigm for generalist robotics.
Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua B Tenenbaum, and Sergey Levine · 2022
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Flow matching for generative modeling
Yaron Lipman, Ricky TQ Chen, Heli Ben-Hamu, Maximilian Nickel, and Matt Le · 2022
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Discriminator-weighted offline imitation learning from suboptimal demonstrations
Haoran Xu, Xianyuan Zhan, Honglei Yin, and Huiling Qin · 2022
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Training diffusion models with reinforcement learning
Kevin Black, Michael Janner, Yilun Du, Ilya Kostrikov, and Sergey Levine · 2023
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Rt-2: Vision-language-action models transfer web knowledge to robotic control
Anthony Brohan, Noah Brown, Justice Carbajal, Yevgen Chebotar, Xi Chen, Krzysztof Choromanski, Tianli Ding, Danny Driess, Avinava Dubey, Chelsea Finn, et al · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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Raft: Reward ranked finetuning for generative foundation model alignment
Hanze Dong, Wei Xiong, Deepanshu Goyal, Yihan Zhang, Winnie Chow, Rui Pan, Shizhe Diao, Jipeng Zhang, Kashun Shum, and Tong Zhang · 2023
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Palm-e: An embodied multimodal language model
Danny Driess, Fei Xia, Mehdi S. M. Sajjadi, Corey Lynch, Aakanksha Chowdhery, Brian Ichter, Ayzaan Wahid, Jonathan Tompson, Quan Vuong, Tianhe Yu, Wenlong Huang, Yevgen Chebotar, Pierre Sermanet, Daniel Duckworth, Sergey Levine, Vincent Vanhoucke, Karol Hausman, Marc Toussaint, Klaus Greff, Andy Zeng, Igor Mordatch, and Pete Florence · 2023
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Dpok: Reinforcement learning for fine-tuning text-to-image diffusion models
Ying Fan, Olivia Watkins, Yuqing Du, Hao Liu, Moonkyung Ryu, Craig Boutilier, Pieter Abbeel, Mohammad Ghavamzadeh, Kangwook Lee, and Kimin Lee · 2023
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Refining diffusion planner for reliable behavior synthesis by automatic detection of infeasible plans
Kyowoon Lee, Seongun Kim, and Jaesik Choi · 2023
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Timesnet: Temporal 2d-variation modeling for general time series analysis
Haixu Wu, Tengge Hu, Yong Liu, Hang Zhou, Jianmin Wang, and Mingsheng Long · 2023
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π \pi 0: A vision-language-action flow model for general robot control, 2024
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
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Carles Domingo-Enrich, Michal Drozdzal, Brian Karrer, and Ricky TQ Chen · 2024
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Rediffuser: Reliable decision-making using a diffuser with confidence estimation
Diffusion model alignment using direct preference optimization
Bram Wallace, Meihua Dang, Rafael Rafailov, Linqi Zhou, Aaron Lou, Senthil Purushwalkam, Stefano Ermon, Caiming Xiong, Shafiq Joty, and Nikhil Naik · 2024
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Online reward-weighted fine-tuning of flow matching with wasserstein regularization
Jiajun Fan, Shuaike Shen, Chaoran Cheng, Yuxin Chen, Chumeng Liang, and Ge Liu · 2025
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Chats: Combining human-aligned optimization and test-time sampling for text-to-image generation
Minghao Fu, Guo-Hua Wang, Liangfu Cao, Qing-Guo Chen, Zhao Xu, Weihua Luo, and Kaifu Zhang · 2025
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Chd: Coupled hierarchical diffusion for long-horizon tasks
Ce Hao, Anxing Xiao, Zhiwei Xue, and Harold Soh · 2025
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Refined policy distillation: From vla generalists to rl experts
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Nantian He, Shaohui Li, Zhi Li, Yu Liu, and You He · 2024
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Sequence-augmented se (3)-flow matching for conditional protein backbone generation
Guillaume Huguet, James Vuckovic, Kilian Fatras, Eric Thibodeau-Laufer, Pablo Lemos, Riashat Islam, Cheng-Hao Liu, Jarrid Rector-Brooks, Tara Akhound-Sadegh, Michael Bronstein, et al · 2024
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Flow matching guide and code, 2024
Yaron Lipman, Marton Havasi, Peter Holderrieth, Neta Shaul, Matt Le, Brian Karrer, Ricky T. Q. Chen, David Lopez-Paz, Heli Ben-Hamu, and Itai Gat · 2024
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Octo: An open-source generalist robot policy
Octo Model Team, Dibya Ghosh, Homer Walke, Karl Pertsch, Kevin Black, Oier Mees, Sudeep Dasari, Joey Hejna, Charles Xu, Jianlan Luo, Tobias Kreiman, You Liang Tan, Lawrence Yunliang Chen, Pannag Sanketi, Quan Vuong, Ted Xiao, Dorsa Sadigh, Chelsea Finn, and Sergey Levine · 2024
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Diffusion policy policy optimization
Allen Z Ren, Justin Lidard, Lars L Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar, Benjamin Burchfiel, Hongkai Dai, and Max Simchowitz · 2024
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Deepseekmath: Pushing the limits of mathematical reasoning in open language models
Zhihong Shao, Peiyi Wang, Qihao Zhu, Runxin Xu, Junxiao Song, Xiao Bi, Haowei Zhang, Mingchuan Zhang, YK Li, Y Wu, et al · 2024
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Understanding the performance gap between online and offline alignment algorithms
Yunhao Tang, Daniel Zhaohan Guo, Zeyu Zheng, Daniele Calandriello, Yuan Cao, Eugene Tarassov, Rémi Munos, Bernardo Ávila Pires, Michal Valko, Yong Cheng, et al · 2024
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Diffusion forcing: Next-token prediction meets full-sequence diffusion
Boyuan Chen, Diego Martí Monsó, Yilun Du, Max Simchowitz, Russ Tedrake, and Vincent Sitzmann
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Tobias Jülg, Wolfram Burgard, and Florian Walter · 2025
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A self-correcting vision-language-action model for fast and slow system manipulation
Chenxuan Li, Jiaming Liu, Guanqun Wang, Xiaoqi Li, Sixiang Chen, Liang Heng, Chuyan Xiong, Jiaxin Ge, Renrui Zhang, Kaichen Zhou, and Shanghang Zhang · 2025
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Improving video generation with human feedback
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Generative trajectory stitching through diffusion composition
Yunhao Luo, Utkarsh A Mishra, Yilun Du, and Danfei Xu · 2025
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Grounding multimodal llms to embodied agents that ask for help with reinforcement learning
Ram Ramrakhya, Matthew Chang, Xavier Puig, Ruta Desai, Zsolt Kira, and Roozbeh Mottaghi · 2025
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Smolvla: A vision-language-action model for affordable and efficient robotics
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Dancegrpo: Unleashing grpo on visual generation
Zeyue Xue, Jie Wu, Yu Gao, Fangyuan Kong, Lingting Zhu, Mengzhao Chen, Zhiheng Liu, Wei Liu, Qiushan Guo, Weilin Huang, et al · 2025
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