DiPOD: Diffusion Policy Optimization without Drifting Apart
Haozhe Jiang, Haiwen Feng, Pieter Abbeel, Jiantao Jiao, Angjoo Kanazawa, Nika Haghtalab
Abstract
RL post-training has become increasingly pivotal for improving diffusion policies, but existing diffusion policy-gradient methods are often unstable and cannot achieve reliable policy improvement. We identify the cause as the double-drift phenomenon: optimizing a variational surrogate can let the ELBO separate from the true log-likelihood, which then makes the resulting proxy policy gradient misaligned with the true policy gradient of expected return. We propose \textbf{DiPOD}, a diffusion policy optimization framework that maintains tight-bound behavior throughout training by interleaving self-distillation with policy-improving gradient updates. This leads to a simple and practical algorithm: augmenting each diffusion policy-gradient update with an on-policy ELBO regularizer. Across diffusion language model post-training and continuous-control diffusion policies, DiPOD substantially stabilizes training and reaches higher rewards than previous methods.
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Classified with taxonomy v2 on Sat, 5 Sept 2026.