Lagrangian Perturbation Diffusion Steering:

Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies

Announce Type: new Abstract: Behavior cloning with high-capacity generative policies achieves strong imitation performance, but is often limited by demonstration coverage and distribution shift. Direct reinforcement learning fine-tuning can improve performance, but updating large action decoders is frequently unstable and sample inefficient. We propose Lagrangian Perturbation Diffusion Steering (LP-DS), a lightweight adaptation method that improves a frozen generative policy by learning a...