نسخة أولية وصول مفتوح
RoboFFT: Finetuning generative robot policy via online reinforcement learning with forward process
Generative models, such as diffusion and flow-based models, have shown strong promise for robot policy learning by capturing complex and multimodal action distributions from demonstrations. However, policies trained solely with imitation learning often suffer from imperfect demonstrations and distributional shifts, whi …