{"id":"https://openalex.org/W7134041827","doi":"https://doi.org/10.48550/arxiv.2603.05291","title":"Online Self-Training for Co-Adaptation in Hierarchical Diffusion Policies","display_name":"Online Self-Training for Co-Adaptation in Hierarchical Diffusion Policies","publication_year":2026,"publication_date":"2026-03-05","ids":{"openalex":"https://openalex.org/W7134041827","doi":"https://doi.org/10.48550/arxiv.2603.05291"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.05291","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5093005502","display_name":"Cl\u00e9mence Grislain","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Grislain, Clemence","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128264137","display_name":"Olivier Sigaud","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kappel, Mathilde","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128223750","display_name":"Mohamed Chetouani","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sigaud, Olivier","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":null,"display_name":"Chetouani, Mohamed","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chetouani, Mohamed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27328566,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3781999945640564,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.3781999945640564,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.16459999978542328,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.0860000029206276,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.8324999809265137},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.7200000286102295},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.5148000121116638},{"id":"https://openalex.org/keywords/hierarchical-database-model","display_name":"Hierarchical database model","score":0.41510000824928284},{"id":"https://openalex.org/keywords/iterative-method","display_name":"Iterative method","score":0.38580000400543213},{"id":"https://openalex.org/keywords/hierarchy","display_name":"Hierarchy","score":0.367900013923645},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.3312999904155731}],"concepts":[{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.8324999809265137},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.7200000286102295},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6765000224113464},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.5148000121116638},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.41510000824928284},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.38580000400543213},{"id":"https://openalex.org/C31170391","wikidata":"https://www.wikidata.org/wiki/Q188619","display_name":"Hierarchy","level":2,"score":0.367900013923645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33719998598098755},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.30709999799728394},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.29910001158714294},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.29660001397132874},{"id":"https://openalex.org/C124527596","wikidata":"https://www.wikidata.org/wiki/Q17029359","display_name":"Hierarchical control system","level":3,"score":0.2727999985218048},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2685999870300293},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26109999418258667},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.25859999656677246},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.25769999623298645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25619998574256897},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.05291","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.05291","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.05291","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.05291","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Hierarchical":[0],"policies":[1,45],"decompose":[2],"language-conditioned":[3],"long-horizon":[4],"robotic":[5],"manipulation":[6],"into":[7,76],"a":[8,12,34,85,141,152],"high-level":[9],"planner":[10,66,89,110],"and":[11,20,49,67,72],"low-level":[13],"controller.":[14],"However,":[15],"effective":[16],"coordination":[17],"between":[18],"HL":[19],"LL":[21],"requires":[22],"that":[23,37],"both":[24,77],"components":[25],"operate":[26],"on":[27,114],"compatible":[28],"subgoal":[29],"distributions.":[30],"We":[31],"propose":[32],"ORCHID,":[33],"self-training":[35],"framework":[36],"enables":[38],"stable":[39],"online":[40,127],"improvement":[41],"of":[42,98,117,126],"hierarchical":[43,128],"diffusion":[44,133],"by":[46],"aligning":[47],"planning":[48],"control":[50],"through":[51],"iterative":[52],"refinement.":[53],"By":[54,112],"filtering":[55],"policy":[56],"samples":[57],"via":[58,79],"environment":[59],"feedback,":[60],"ORCHID":[61,121,139],"identifies":[62],"trajectories":[63],"where":[64],"the":[65,88,94,99,102,106,109,123,136],"controller":[68,103],"are":[69],"jointly":[70],"successful":[71],"distills":[73],"them":[74],"back":[75],"modules":[78],"supervised":[80,115],"learning.":[81],"This":[82],"process":[83],"induces":[84],"bidirectional":[86],"co-adaptation:":[87],"grounds":[90],"its":[91,156],"subgoals":[92],"in":[93,105],"actual":[95],"reaching":[96],"capabilities":[97],"controller,":[100],"while":[101],"specializes":[104],"trajectory":[107],"structures":[108],"produces.":[111],"relying":[113],"distillation":[116],"filtered":[118],"on-policy":[119],"samples,":[120],"avoids":[122],"instability":[124],"typical":[125],"gradient-based":[129],"RL":[130],"training":[131],"with":[132],"models.":[134],"On":[135],"CALVIN":[137],"benchmark,":[138],"allows":[140],"lightweight,":[142],"initially":[143],"weak":[144],"model":[145,154],"to":[146],"outperform":[147],"pure":[148],"offline":[149],"methods,":[150],"including":[151],"Vision-Language-Action":[153],"twice":[155],"size.":[157]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-07T00:00:00"}