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Zhao-Yang Liu

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#machine learning Preprint Oct 2026

CFG-Policy: Unified Diffusion Policy Learning Framework via Classifier-free Guidance

Diffusion policies are increasingly used in robotic control and manipulation, vision-language-action models, and world-model-based agents. Their ability to represent multimodal action distributions offers rich opportunities for exploration in reinforcement learning (RL). However, optimizing diffusion policies with RL c...

Shu-Tong Ding, Zhao-Yang Liu, Yi-Miao Zhou et al. · 0 citations