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Abstract - Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions. Diffusion-based policies, while expressive, do not permit conservative likelihood-based updates during fine-tuning because action probabilities are intractable. In contrast, conventional Gaussian policies collapse under multimodality, particularly when actions are executed in chunks, and standard per-step critics fail to align with chunked execution, leading to poor credit assignment. We present SOFT-FLOW, a sample-efficient off-policy fine-tuning framework with normalizing flow (NF) to address these challenges. The normalizing flow policy yields exact likelihoods for multimodal action chunks, allowing conservative, stable policy updates through likelihood regularization and thereby improving sample efficiency. An action-chunked critic evaluates entire action sequences, aligning value estimation with the policy's temporal structure and improving long-horizon credit assignment. To our knowledge, this is the first demonstration of a likelihood-based, multimodal generative policy combined with chunk-level value learning on real robotic hardware. We evaluate SOFT-FLOW on two challenging dexterous manipulation tasks in the real world: cutting tape with scissors retrieved from a case, and in-hand cube rotation with a palm-down grasp -- both of which require precise, dexterous control over long horizons. On these tasks, SOFT-FLOW achieves stable, sample-efficient adaptation where standard methods struggle.
通过动作分块评估器与标准化流实现样本高效的真实世界灵巧策略微调 /
Sample-Efficient Real-World Dexterous Policy Fine-Tuning via Action-Chunked Critics and Normalizing Flows
1️⃣ 一句话总结
这篇论文提出了一个名为SOFT-FLOW的样本高效微调框架,它结合了能处理多模态动作的标准化流策略和评估整个动作序列的评估器,成功在真实机器人上实现了对灵巧、长时程操作任务(如用剪刀剪胶带、转动手中方块)的稳定且高效的策略调整。