P. R. Kumar

ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies

Tzu-Hsiang Lin, Srinivas Shakkottai, Dileep Kalathil, P. R. Kumar

Behavior-cloned diffusion policies are expressive but remain vulnerable to covariate shift: small deviations from demonstrated states can compound into task failure. Existing methods address this either by expanding the training distribution through expert corrections or syntheti…Read more