Lagrangian Perturbation Diffusion Steering: Latent Reinforcement Learning for Generative Policies
Behavior cloning with high-capacity generative policies achieves strong imitation performance, but is often limited by demonstration coverage and distribution shift. Direct reinforcement learning fine-tuning can improve performance, but updating large action decoders is frequently unstable and sample inefficient. We propose Lagrangian Perturbation Diffusion Steering (LP-DS), a lightweight adaptation method that improves a frozen generative policy by learning a compact noise-space perturbation before decoding. LP-DS optimizes this perturbation with a Lagrangian trust-region objective, improving downstream value while constraining deviation from the latent prior. Across RoboMimic manipulati...
| Authors | Hikmet Simsir, Ozgur S. Oguz |
|---|---|
| Primary category | cs.LG |
| Published | 31 May 2026 |
| Last updated at source | 8 August 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.