2025
DiWA: Diffusion Policy Adaptation with World Models
Akshay L Chandra, Iman Nematollahi, Chenguang Huang, Tim Welschehold, Wolfram Burgard, Abhinav Valada
CoRL 2025poster
Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Additionally, standard RL methods require millions of physical interaction steps, making fine-tuning even more…