DiPLO: Self-distilled Diffusion Planning for Loco-manipulation

Humanoid loco-manipulation is particularly challenging because it requires coordinating locomotion, balance, and object interaction, making it difficult to learn from limited demonstrations or from scratch through Reinforcement Learning (RL). We introduce DiPLO (self-distilled Diffusion Planning for Loco-manipulation), a framework that combines a self-distilled diffusion planner with a low-level whole-body tracking policy. Our planner is pretrained via supervised learning on motions derived from human-to-humanoid retargeting, while the tracker is trained via RL to execute them. DiPLO centers around two complementary post-training stages. First, we introduce Self-Distillation Diffusion Policy Optimisation (SD:DPO) to remove the planner's dependence on strong task conditioning, which we identify as a crucial ingredient for effective pretraining, as downstream fine-tuning does not recover comparable performance when it is omitted.. We then fine-tune this distilled model with Diffusion-Augmented Proximal Policy Optimization (DA:PPO), a maximum-entropy RL method for diffusion models, to improve task success and align generated plans with the frozen tracker's execution capabilities. Together, these stages enable motion generation through state-history and goal conditioning alone, enabling 99% task success in pick-carry-place tasks, compared to just 45% for the pretrained model. The resulting planner also generates motions for unseen object goals, with further evaluations on kicking and pushing/pulling tasks. Finally, we deploy our pipeline on the hardware, using our DA:PPO planner-tracker on a Unitree G1, achieving repeated successful executions without any real-world fine-tuning.