Steering Generative Robot Policies with Lexicographic Preferences

arXiv:2609.15014 · cs.RO, cs.AI · Submitted 2026-09-14 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-14

Updated: 2026-09-14

Comments: 11 pages

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Steering — 40× in this paper · explained in 2 episodes
• Benchmark — 14× in this paper · explained in 2 episodes
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Inference-Time Steering — 3× in this paper · explained in 2 episodes
• Calibration — 2× in this paper · explained in 7 episodes
• Diffusion Models — 2× in this paper · explained in 6 episodes
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Admissibility — 1× in this paper · explained in 2 episodes
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• ViNT: A Foundation Model for Visual Navigation
• NavDP: Learning Sim-to-Real Navigation Diffusion Policy with Privileged Information Guidance
• Planning with Diffusion for Flexible Behavior Synthesis
• A General Framework for Inference-time Scaling and Steering of Diffusion Models
• VLS: Steering Pretrained Robot Policies via Vision-Language Models
• SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
• SEAM: Smooth Execution of Action-Chunked Motion for Vision-Language-Action Policies
• Lexicographic Multi-Objective Reinforcement Learning
• STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control

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