Diffusion Reward: Learning Rewards via Conditional Video Diffusion

arXiv:2312.14134v2 Announce Type: replace
Abstract: Learning rewards from expert videos offers an affordable and effective solution to specify the intended behaviors for reinforcement learning tasks. In this work, we propose Diffusion Reward, a novel framework that learns rewards from expert videos via conditional video diffusion models for solving complex visual RL problems. Our key insight is that lower generative diversity is observed when conditioned on expert trajectories. Diffusion Reward is accordingly formalized by the negative of conditional entropy that encourages …

arxiv cs.cv cs.lg cs.ro diffusion type via video video diffusion