CGPO integrates training-free critic guidance into diffusion denoising to produce high-Q actions as regression targets, yielding SOTA results on MuJoCo locomotion and successful Franka arm grasping.
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2026 16representative citing papers
Introduces a state-aligned latent actor-critic framework that lets diffusion models act as their own timestep-conditioned value functions for trajectory-level RL post-training and inference steering.
DISA decouples partition function estimation using offline importance sampling for distribution-matching LLM-RL, matching or exceeding online baselines like FlowRL on math and code benchmarks while retaining more strategy diversity.
SoftGAC defines a stochastic bridge from base to action latent that converts the MaxEnt objective into a tractable relative-entropy term reducible to control energy, achieving competitive returns with one-pass sampling.
GDSD reduces RL for dLLMs to likelihood-free self-distillation via a normalization-free logit-matching objective, outperforming ELBO methods with more stable training on LLaDA-8B and Dream-7B.
FA-OPD co-trains a flow-matching teacher and MLP student via adversarial dual on-policy distillation, improving robustness over baselines on six robot benchmarks with noisy or limited demonstrations.
DEFLECT is an offline post-training method that improves async VLA policy success rates under high inference delays by using flow-matching likelihood ratios on counterfactual fresh/stale action pairs from a frozen reference policy.
VideoRLVR uses SDE-GRPO optimization, dense decomposed rewards, and Early-Step Focus to train video diffusion models on verifiable reasoning tasks, outperforming supervised fine-tuning and other video generators on Maze, FlowFree, and Sokoban.
DRIFT enables stable offline-to-online fine-tuning of CTMC policies in discrete RL via advantage-weighted discrete flow matching, path-space regularization, and candidate-set approximation.
UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
V-GRPO makes ELBO surrogates stable and efficient for online RL alignment of denoising models, delivering SOTA text-to-image performance with 2-3x speedups over MixGRPO and DiffusionNFT.
PODPO is a likelihood-free generative policy optimization method for online RL that steers actions to high-return regions using only positive-advantage samples and local contrastive drifting.
Sol-RL decouples FP4-based candidate exploration from BF16 policy optimization in diffusion RL, delivering up to 4.64x faster convergence with maintained or superior alignment performance on models like FLUX.1 and SD3.5.
DIAL expands continuous-action driving policies via intent-conditioned flow matching and multi-intent GRPO, lifting best-of-N preference scores above human demonstrations for the first time on WOD-E2E.
ConSFT is a gradient-scaling fine-tuning objective for flow-matching VLAs that bounds parameter disruption via model-confidence weighting, yielding over 20% better capability retention than vanilla SFT on LIBERO and RoboTwin.
citing papers explorer
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Generative Actor-Critic with Soft Bridge Policies
SoftGAC defines a stochastic bridge from base to action latent that converts the MaxEnt objective into a tractable relative-entropy term reducible to control energy, achieving competitive returns with one-pass sampling.
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Unified Noise Steering for Efficient Human-Guided VLA Adaptation
UniSteer unifies human corrective actions and noise-space RL for VLA adaptation by inverting actions to noise targets, raising success rates from 20% to 90% in 66 minutes across four real-world manipulation tasks.
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FP4 Explore, BF16 Train: Diffusion Reinforcement Learning via Efficient Rollout Scaling
Sol-RL decouples FP4-based candidate exploration from BF16 policy optimization in diffusion RL, delivering up to 4.64x faster convergence with maintained or superior alignment performance on models like FLUX.1 and SD3.5.