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Author

Quanhao Li

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#machine learning May 2026

DiffusionOPD: A Unified Perspective of On-Policy Distillation in Diffusion Models

Theoretically, the OPD framework is lifted from discrete tokens to continuous-state Markov processes, deriving a closed-form per-step KL objective that unifies both stochastic SDE and deterministic ODE refinement via mean-matching, which provides lower variance and better generality compared to conventional PPO-style p...

Quanhao Li, Jun-Qiu Yu, Kai-Xun Jiang et al. · 34 citations · ⚡10
Jul 2026

SegDiff: Segmented Trajectory Diffusion for Consistent and Adaptive Robot Manipulation

SegDiff, a closed-loop visuomotor policy that decomposes demonstrations into motion segments between keyposes and learns to predict the continuous trajectory from the current state to the next keypose, enabling long-horizon prediction with real-time refinement.

Hai-Dong Cao, Wenjun Cao, Quanhao Li et al. · 0 citations

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