Progress-Guided Preference Generation for Aligning Generative Control Policies

Engineering notes

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Chinese explanation / 中文解读

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Original abstract

Generative policies have achieved strong performance in imitation learning tasks, but their success is often constrained by the limited availability of expert demonstrations. Although preference-based fine-tuning can leverage suboptimal rollouts to improve performance, existing approaches heavily rely on expensive human annotations. In this work, we introduce Progress-Guided Preference Generation (PGPG), an unsupervised preference alignment framework that eliminates the need for human-in-the-loop supervision. Our method leverages ordered coverage alignment to measure sequential progress relative to a small set of expert demonstrations, enabling the automatic extraction of pseudo-preference labels from autonomously collected rollouts. Furthermore, we introduce key enhancements to improve the reliability of these progress-guided preferences, enabling effective fine-tuning of pretrained generative policies without requiring manually designed reward functions. Extensive experiments across a suite of challenging long-horizon manipulation tasks demonstrate that PGPG outperforms standard supervised fine-tuning baselines. Moreover, our conceptually simple framework is broadly applicable across multiple classes of generative policies, demonstrating strong versatility when integrated with both diffusion and flow-matching policies.

Links and sources

• Official / arXiv page
• PDF from original source

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