ReGuide is a self-improving framework that uses phase-conditioned guidance to generate corrective rollouts and absorbs successful ones back into diffusion policy training, yielding 1.3-7.7x success gains on Robomimic tasks.
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ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies
ReGuide is a self-improving framework that uses phase-conditioned guidance to generate corrective rollouts and absorbs successful ones back into diffusion policy training, yielding 1.3-7.7x success gains on Robomimic tasks.