Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability

arXiv:2503.14833v2 Announce Type: replace Abstract: One of the bottlenecks in robotic intelligence is the instability of neural network models. This leads to risks when applying intelligence in the physical world. Specifically, imitation policy based on neural network may generate hallucinations, leading to inaccurate behaviors that impact the safety of real-world applications. To address this issue, this paper proposes the Curiosity-Diffuser, aimed at guiding the conditional diffusion model to generate trajectories with lower curiosity, thereby improving the reliability of policy. The core idea is to use a Random Network Distillation (RND) curiosity module to assess whether the model's behavior aligns with the training data, and then minimize curiosity by classifier guidance diffusion to reduce overgeneralization during inference. Additionally, we propose a computationally efficient metric for evaluating the reliability of the policy, measuring the similarity between the generated behaviors and the training dataset, to facilitate research about reliability learning. Finally, simulations and real-world experiments verify the effectiveness and applicability of the proposed method to a variety of scenarios, showing that Curiosity-Diffuser significantly improves task performance and produces behaviors that are more similar to the training data. The code for this work is available at: github.com/CarlDegio/Curiosity-Diffuser

Abstract:One of the bottlenecks in robotic intelligence is the instability of neural network models. This leads to risks when applying intelligence in the physical world. Specifically, imitation policy based on neural network may generate hallucinations, leading to inaccurate behaviors that impact the safety of real-world applications. To address this issue, this paper proposes the Curiosity-Diffuser, aimed at guiding the conditional diffusion model to generate trajectories with lower curiosity, thereby improving the reliability of policy. The core idea is to use a Random Network Distillation (RND) curiosity module to assess whether the model's behavior aligns with the training data, and then minimize curiosity by classifier guidance diffusion to reduce overgeneralization during inference. Additionally, we propose a computationally efficient metric for evaluating the reliability of the policy, measuring the similarity between the generated behaviors and the training dataset, to facilitate research about reliability learning. Finally, simulations and real-world experiments verify the effectiveness and applicability of the proposed method to a variety of scenarios, showing that Curiosity-Diffuser significantly improves task performance and produces behaviors that are more similar to the training data. The code for this work is available at: this http URL

Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG)

arXiv:2503.14833 [cs.RO]

(or arXiv:2503.14833v2 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2503.14833 Focus to learn more arXiv-issued DOI via DataCite

https://doi.org/10.1007/s11633-026-1675-4 Focus to learn more DOI(s) linking to related resources

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.

aiqbench analysis

Curiosity-Diffuser: Curiosity Guide Diffusion Models for Reliability

Related coverage