analiza aiqbench
This paper addresses a critical bottleneck in embodied AI by proposing GQRM, a reinforcement learning framework that stabilizes policy gradients for diffusion models used in robot navigation. By leveraging group Q-score normalization and self-bootstrapped exploration, the method successfully generalizes visual navigation policies across diverse robotic embodiments without requiring full environmental observability. The approach demonstrates significant performance gains over prior RL methods for diffusion policies, marking meaningful progress toward robust autonomous agents capable of handling complex real-world scenarios like dead ends and long obstacles.
X-NavDP: Generalizing Navigation Diffusion Policy to Novel Behavior and Embodiments with Group Q-score Reweighted Matching
arXiv:2607.28560v1 Announce Type: new Abstract: Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nominal robot. This limits the policy's generalization to diverse embodiments and challenging scenarios (e.g., escaping dead ends or detouring long obstacles) that demand diverse local reactive behaviors with only onboard local observations. Post-training the policy with reinforcement learning (RL) offers a principled remedy. However, previous RL for diffusion approaches lead to only marginal improvements. This is because the intractable likelihood of diffusion policies renders policy gradients unstable in addition to inefficient policy exploration. To address these challenges, we propose a data-efficient diffusion RL post-training framework - GQRM (Group Q-score Reweighted Matching). Our framework introduces two complementary designs: (i) a self-bootstrapped exploration strategy with behavior perturbation that preserves the pretrained policy prior, and (ii) a group Q-score normalization mechanism that computes per-trajectory values on each state for efficient reweighted score matching. By conducting distributed online RL training across heterogeneous embodiments, the resulting fine-tuned policy, X-NavDP, achieves state-of-the-art cross-embodiment visual navigation performance, improving the overall success rate from 61.20% to 84.28% in simulation and 10% to 65% in real-world hard cases. The code and model are publicly available at https://yty-sky.github.io/x-navdp-project-page.
Abstract:Pretraining navigation diffusion policies rely on large-scale expert demonstrations. These data are typically generated by a fully-informed oracle planner suited to a single nominal robot. This limits the policy's generalization to diverse embodiments and challenging scenarios (e.g., escaping dead ends or detouring long obstacles) that demand diverse local reactive behaviors with only onboard local observations. Post-training the policy with reinforcement learning (RL) offers a principled remedy. However, previous RL for diffusion approaches lead to only marginal improvements. This is because the intractable likelihood of diffusion policies renders policy gradients unstable in addition to inefficient policy exploration. To address these challenges, we propose a data-efficient diffusion RL post-training framework - GQRM (Group Q-score Reweighted Matching). Our framework introduces two complementary designs: (i) a self-bootstrapped exploration strategy with behavior perturbation that preserves the pretrained policy prior, and (ii) a group Q-score normalization mechanism that computes per-trajectory values on each state for efficient reweighted score matching. By conducting distributed online RL training across heterogeneous embodiments, the resulting fine-tuned policy, X-NavDP, achieves state-of-the-art cross-embodiment visual navigation performance, improving the overall success rate from 61.20% to 84.28% in simulation and 10% to 65% in real-world hard cases. The code and model are publicly available at this https URL.
Robotics (cs.RO)
arXiv:2607.28560 [cs.RO]
(or arXiv:2607.28560v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2607.28560 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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.
Text integral sub licența deschisă a publicației · 296 cuvinte
Subiecte conexe
Runway’s WorldPrompt and the Engineering of Real-Time Worlds
Latent Space · 25 sept. 2026
Import AI 474: Platonic mindspace; TPUs in space; Zhipu starts an outer RSI loop
Import AI · 28 sept. 2026
LERR-Nav: Learning to Coordinate Exploration, Recovery, and Reminiscing for Object Navigation
arXiv · 14 oct. 2026
Meet Qwen-RobotSuite: Three Embodied AI Models for VLA Manipulation, Video World Modeling, and Navigation
MarkTechPost · 16 iun. 2026