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Dichotomous Diffusion Policy Optimization

Ruiming Liang*, Yinan Zheng*, Kexin Zheng*, Tianyi Tan*, Jianxiong Li, Liyuan Mao, Zhihao Wang, Guang Chen, Hangjun Ye, Jingjing Liu, Jinqiao Wang $\dagger$, Xianyuan Zhan $\dagger$

<p align="center"> <a href="https://lrmbbj.github.io/DIPOLE/"> <img src="https://img.shields.io/badge/DIPOLE-page-blue?logo=moonrepo&logoColor=white" alt="DIPOLE Website" /> </a> <a href="https://arxiv.org/pdf/2601.00898"> <img src="https://img.shields.io/badge/DIPOLE-Paper-red?logo=arxiv&logoColor=red" alt="BAGEL Paper on arXiv" /> </a> <a href=""> <img src="https://img.shields.io/badge/DIPOLE-Model-yellow?logo=huggingface&logoColor=yellow" alt="BAGEL Model" /> </a> </p> <p align="center"> <img src="assets/method.svg" alt="SVG Image"> </p> </div>

📢 News

• Jan 6, 2026: DIPOLE is now available on arXiv.
• Jan 1, 2026: We released the official website and repo for DIPOLE.

🔥 Quick Start

Comming soon.

📊 Benchmarks

ExORL

Average score over 8 random seeds (w/o rs: without rejection sampling)

| Domain | Task | IQL | ReBRAC | CFGRL | IFQL | FQL | DIPOLE w/o rs | DIPOLE | | --------- | --------------- | -------- | ------- | -------- | -------- | ------------ | ------------- | ------------ | | Walker | stand | 603 ± 8 | 461 ± 3 | 782 ± 8 | 873 ± 6 | 801 ± 4 | 793 ± 11 | 953 ± 4 | | Walker | walk | 444 ± 4 | 208 ± 6 | 608 ± 32 | 844 ± 11 | 755 ± 12 | 679 ± 16 | 910 ± 5 | | Walker | run | 247 ± 10 | 98 ± 2 | 282 ± 6 | 406 ± 8 | 294 ± 11 | 256 ± 12 | 442 ± 9 | | Quadruped | walk | 776 ± 15 | 344 ± 7 | 762 ± 25 | 883 ± 12 | 739 ± 25 | 813 ± 21 | 928 ± 55 | | Quadruped | run | 485 ± 7 | 344 ± 3 | 571 ± 25 | 595 ± 18 | 503 ± 5 | 560 ± 11 | 657 ± 10 | | Cheetah | run | 168 ± 7 | 97 ± 13 | 216 ± 15 | 269 ± 16 | 222 ± 14 | 194 ± 9 | 274 ± 12 | | Cheetah | run-backward | 146 ± 8 | 85 ± 4 | 262 ± 26 | 310 ± 24 | 231 ± 12 | 227 ± 7 | 350 ± 15 | | Jaco | reach-top-right | 33 ± 2 | 38 ± 13 | 72 ± 6 | 193 ± 9 | 224 ± 17 | 84 ± 5 | 117 ± 18 | | Jaco | reach-top-left | 30 ± 8 | 59 ± 5 | 46 ± 6 | 181 ± 11 | 222 ± 42 | 63 ± 8 | 110 ± 12 |

OGBench

Aggregate score over all single tasks for each category (average over 8 random seeds)

| Task Category | IQL | ReBRAC | IDQL | IFQL | FQL | DIPOLE | | -------------------------------------- | ------ | ------ | ---------- | ---------- | ---------- | ---------- | | humanoidmaze-medium-navigate (5 tasks) | 33 ± 2 | 2 ± 8 | 1 ± 0 | 60 ± 14 | 58 ± 5 | 68 ± 3 | | humanoidmaze-large-navigate (5 tasks) | 2 ± 1 | 2 ± 1 | 1 ± 0 | 11 ± 2 | 4 ± 2 | 6 ± 2 | | antsoccer-arena-navigate (5 tasks) | 8 ± 2 | 0 ± 0 | 12 ± 4 | 33 ± 6 | 60 ± 2 | 57 ± 7 | | cube-single-play (5 tasks) | 83 ± 3 | 91 ± 2 | 95 ± 2 | 79 ± 2 | 96 ± 1 | 97 ± 2 | | cube-double-play (5 tasks) | 7 ± 1 | 12 ± 1 | 15 ± 6 | 14 ± 3 | 29 ± 2 | 44 ± 7 | | scene-play (5 tasks) | 28 ± 1 | 41 ± 3 | 46 ± 3 | 30 ± 3 | 56 ± 2 | 60 ± 2 |

NavSim

| Method | Input | NC↑ | DAC↑ | TTC↑ | Comf.↑ | EP↑ | PDMS↑ | | ------------------------------------ | ----------- | ---- | ---- | ---- | ------ | ---- | --------- | | Constant Velocity | - | 68.0 | 57.8 | 50.0 | 100.0 | 19.4 | 20.6 | | Ego Status MLP | - | 93.0 | 77.3 | 83.6 | 100.0 | 62.8 | 65.6 | | UniAD | Cam | 97.8 | 91.9 | 92.9 | 100.0 | 78.8 | 83.4 | | PARA-Drive | Cam | 97.9 | 92.4 | 93.0 | 99.8 | 79.3 | 84.0 | | LFT | Cam | 97.4 | 92.8 | 92.4 | 100.0 | 79.0 | 83.8 | | Transfuser | Cam & Lidar | 97.7 | 92.8 | 92.8 | 100.0 | 79.2 | 84.0 | | Hydra-MDP | Cam & Lidar | 98.3 | 96.0 | 94.6 | 100.0 | 78.7 | 86.5 | | DP-VLA (ours) | Cam | 98.0 | 97.0 | 94.3 | 100.0 | 82.5 | 88.3 | | DP-VLA w/ DIPOLE navtrain (ours) | Cam | 98.2 | 98.0 | 95.2 | 100.0 | 83.6 | 89.7 | | DP-VLA w/ DPPO navtest | Cam | 97.9 | 97.6 | 94.1 | 100.0 | 83.5 | 89.0 | | DP-VLA w/ DIPOLE navtest (ours) | Cam | 99.2 | 98.7 | 95.6 | 99.8 | 94.2 | 94.8 |

✍️ Citation

@article{liang2026dipole,
  title={Dichotomous Diffusion Policy Optimization},
  author={Ruiming Liang and Yinan Zheng and Kexin Zheng and Tianyi Tan and Jianxiong Li and Liyuan Mao and Zhihao Wang and Guang Chen and Hangjun Ye and Jingjing Liu and Jinqiao Wang and Xianyuan Zhan},
  journal={arXiv preprint arXiv:2601.00898},
  year={2026}
}