2025
Diffusion Policy Policy Optimization
Allen Z. Ren, Justin Lidard, Lars Lien Ankile, Anthony Simeonov, Pulkit Agrawal, Anirudha Majumdar +3
ICLR 2025poster
We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy gradient (PG) method from reinforcement learning (RL). PG method…