Dynamic-TreeRPO: Breaking the Independent Trajectory Bottleneck with Structured Sampling
On the map: Diffusion models → Diffusion and flow policies for robotics
Abstract (arXiv)
The integration of Reinforcement Learning (RL) into flow matching models for text-to-image (T2I) generation has driven substantial advances in generation quality. However, these gains often come at the cost of exhaustive exploration and inefficient sampling strategies due to slight variation in the sampling group. Building on this insight, we propose Dynamic-TreeRPO, which implements the sliding-window sampling strategy as a tree-structured search with dynamic noise intensities along depth. We perform GRPO-guided optimization and constrained Stochastic Differential Equation (SDE) sampling within this tree structure. By sharing prefix paths of the tree, our design effectively amortizes the computational overhead of trajectory search. With well-designed noise intensities for each tree layer, Dynamic-TreeRPO can enhance the variation of exploration without any extra computational cost. Furthermore, we seamlessly integrate Supervised Fine-Tuning (SFT) and RL paradigm within Dynamic-TreeRPO to construct our proposed LayerTuning-RL, reformulating the loss function of SFT as a dynamically weighted Progress Reward Model (PRM) rather than a separate pretraining method. By associating this weighted PRM with dynamic-adaptive clipping bounds, the disruption of exploration process in Dynamic-TreeRPO is avoided. Benefiting from the tree-structured sampling and the LayerTuning-RL paradigm, our model dynamically explores a diverse search space along effective directions. Compared to existing baselines, our approach demonstrates significant superiority in terms of semantic consistency, visual fidelity, and human preference alignment on established benchmarks, including HPS-v2.1, PickScore, and ImageReward. In particular, our model outperforms SoTA by 4.9%, 5.91%, and 8.66% on those benchmarks, respectively, while improving the training efficiency by nearly 50%.
Key facts. Cited by 18 papers in the map (data through 14 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 32 of its 35 references that are in the map. First posted on arXiv 27 Sep 2025.
Builds on
32 of 35 references.
Closest ancestors · 6
Same direction, newest first
- 2025TempFlow-GRPO: When Timing Matters for GRPO in Flow Models6 Aug
- 2025MixGRPO: Unlocking Flow-based GRPO Efficiency with Mixed ODE-SDE29 Jul
- 2025DanceGRPO: Unleashing GRPO on Visual Generation12 May
- 2025Flow-GRPO: Training Flow Matching Models via Online RL8 May
- 2023Diffusion Model Alignment Using Direct Preference Optimization21 Nov
- 2023DPOK: Reinforcement Learning for Fine-tuning Text-to-Image Diffusion Models25 May
Other references · 26
- 2020Denoising Diffusion Probabilistic Modelscited by 21,076
- 2022Training language models to follow instructions with human feedbackcited by 15,971
- 2020Denoising Diffusion Implicit Modelscited by 9,781
- 2024DeepSeekMath: Pushing the Limits of Mathematical Reasoning in Open Language Modelscited by 9,379
- 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
- 2022Flow Matching for Generative Modelingcited by 5,702
- 2025Qwen2.5-VL Technical Reportcited by 5,587
- 2024Scaling Rectified Flow Transformers for High-Resolution Image Synthesiscited by 4,181
- 2022Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flowcited by 3,700
- 2022DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Stepscited by 1,979
- 2023ImageReward: Learning and Evaluating Human Preferences for Text-to-Image Generationcited by 1,045
- 2023One-step Diffusion with Distribution Matching Distillationcited by 1,019
14 more
- 2025FLUX.1 Kontext: Flow Matching for In-Context Image Generation and Editing in Latent Spacecited by 1,006
- 2023Pick-a-Pic: An Open Dataset of User Preferences for Text-to-Image Generationcited by 977
- 2022DPM-Solver++: Fast Solver for Guided Sampling of Diffusion Probabilistic Modelscited by 938
- 2023Human Preference Score v2: A Solid Benchmark for Evaluating Human Preferences of Text-to-Image Synthesiscited by 890
- 2025SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-trainingcited by 672
- 2023UniPC: A Unified Predictor-Corrector Framework for Fast Sampling of Diffusion Modelscited by 450
- 2025SFT or RL? An Early Investigation into Training R1-Like Reasoning Large Vision-Language Modelscited by 212
- 2023DPM-Solver-v3: Improved Diffusion ODE Solver with Empirical Model Statisticscited by 161
- 2025On-Policy RL Meets Off-Policy Experts: Harmonizing Supervised Fine-Tuning and Reinforcement Learning via Dynamic Weightingcited by 91
- 2025SimpleAR: Pushing the Frontier of Autoregressive Visual Generation through Pretraining, SFT, and RLcited by 86
- 2025Towards a Unified View of Large Language Model Post-Trainingcited by 36
- 2025ReasonGen-R1: CoT for Autoregressive Image generation models through SFT and RLcited by 30
- 2025Beyond Two-Stage Training: Cooperative SFT and RL for LLM Reasoningcited by 30
- 2025OneReward: Unified Mask-Guided Image Generation via Multi-Task Human Preference Learningcited by 23
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Citing papers per year: 2025: 2; 2026: 16.
18 papers.
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- 2025GARDO: Reinforcing Diffusion Models without Reward Hackingcited by 17
- 2026E-GRPO: High Entropy Steps Drive Effective Reinforcement Learning for Flow Modelscited by 14
- 2026TAGRPO: Boosting GRPO on Image-to-Video Generation with Direct Trajectory Alignmentcited by 10
- 2026Generate, Filter, Control, Replay: A Comprehensive Survey of Rollout Strategies for LLM Reinforcement Learningcited by 9
- 2025Multi-GRPO: Multi-Group Advantage Estimation for Text-to-Image Generation with Tree-Based Trajectories and Multiple Rewardscited by 8
- 2026RAVEN: Real-time Autoregressive Video Extrapolation with Consistency-model GRPOcited by 7
- 2026ConsistentRFT: Reducing Visual Hallucinations in Flow-based Reinforcement Fine-Tuningcited by 6
- 2026AEGPO: Adaptive Entropy-Guided Policy Optimization for Diffusion Modelscited by 5
- 2026TMPO: Trajectory Matching Policy Optimization for Diverse and Efficient Diffusion Alignmentcited by 4
- 2026FP4 Explore, BF16 Train: Diffusion Reinforcement Learning via Efficient Rollout Scalingcited by 3
- 2026Power Reinforcement Post-Training of Text-to-Image Models with Super-Linear Advantage Shapingcited by 3
- 2026When Policy Entropy Constraint Fails: Preserving Diversity in Flow-based RLHF via Perceptual Entropycited by 3
6 more
- 2026Advances in GRPO for Generation Models: A Surveycited by 2
- 2026AdaGRPO: A Capability-Aware Adaptive Enhancement for Flow-based GRPOcited by 2
- 2026Oxygen-TryOn: Fashion-Native Foundation Model for Any-item Virtual Try-Oncited by 1
- 2026PosterText: Towards Unified Visual Text Generation and Editing for E-commerce Postercited by 1
- 2026LeanGRPO: Eliminating Redundant Recomputation in Diffusion RLcited by 0
- 2026Unified Trajectory Matching Policy Optimization: Diverse T2I Generation and VLA Generalizationcited by 0
- 2026Unified Trajectory Matching Policy Optimization: Diverse T2I Generation and VLA Generalization28 Sep 2026
- 2026LeanGRPO: Eliminating Redundant Recomputation in Diffusion RL3 Sep 2026
- 2026PosterText: Towards Unified Visual Text Generation and Editing for E-commerce Poster17 Aug 2026
- 2026Oxygen-TryOn: Fashion-Native Foundation Model for Any-item Virtual Try-On23 Jul 2026
- 2026AdaGRPO: A Capability-Aware Adaptive Enhancement for Flow-based GRPO5 Jun 2026
- 2026RAVEN: Real-time Autoregressive Video Extrapolation with Consistency-model GRPO14 May 2026
- 2026When Policy Entropy Constraint Fails: Preserving Diversity in Flow-based RLHF via Perceptual Entropy12 May 2026
- 2026Power Reinforcement Post-Training of Text-to-Image Models with Super-Linear Advantage Shaping11 May 2026
- 2026TMPO: Trajectory Matching Policy Optimization for Diverse and Efficient Diffusion Alignment9 May 2026
- 2026Generate, Filter, Control, Replay: A Comprehensive Survey of Rollout Strategies for LLM Reinforcement Learning8 Apr 2026
- 2026FP4 Explore, BF16 Train: Diffusion Reinforcement Learning via Efficient Rollout Scaling8 Apr 2026
- 2026Advances in GRPO for Generation Models: A Survey21 Feb 2026
6 more
- 2026AEGPO: Adaptive Entropy-Guided Policy Optimization for Diffusion Models6 Feb 2026
- 2026ConsistentRFT: Reducing Visual Hallucinations in Flow-based Reinforcement Fine-Tuning3 Feb 2026
- 2026TAGRPO: Boosting GRPO on Image-to-Video Generation with Direct Trajectory Alignment9 Jan 2026
- 2026E-GRPO: High Entropy Steps Drive Effective Reinforcement Learning for Flow Models1 Jan 2026
- 2025GARDO: Reinforcing Diffusion Models without Reward Hacking30 Dec 2025
- 2025Multi-GRPO: Multi-Group Advantage Estimation for Text-to-Image Generation with Tree-Based Trajectories and Multiple Rewards30 Nov 2025
- 2026E-GRPO: High Entropy Steps Drive Effective Reinforcement Learning for Flow Modelscited by 14
- 2026TAGRPO: Boosting GRPO on Image-to-Video Generation with Direct Trajectory Alignmentcited by 10
- 2026Generate, Filter, Control, Replay: A Comprehensive Survey of Rollout Strategies for LLM Reinforcement Learningcited by 9
- 2025Multi-GRPO: Multi-Group Advantage Estimation for Text-to-Image Generation with Tree-Based Trajectories and Multiple Rewardscited by 8
- 2026Power Reinforcement Post-Training of Text-to-Image Models with Super-Linear Advantage Shapingcited by 3
- 2026Advances in GRPO for Generation Models: A Surveycited by 2
- 2026AdaGRPO: A Capability-Aware Adaptive Enhancement for Flow-based GRPOcited by 2
- 2026AdaGRPO: A Capability-Aware Adaptive Enhancement for Flow-based GRPO5 Jun 2026
- 2026Power Reinforcement Post-Training of Text-to-Image Models with Super-Linear Advantage Shaping11 May 2026
- 2026Generate, Filter, Control, Replay: A Comprehensive Survey of Rollout Strategies for LLM Reinforcement Learning8 Apr 2026
- 2026Advances in GRPO for Generation Models: A Survey21 Feb 2026
- 2026TAGRPO: Boosting GRPO on Image-to-Video Generation with Direct Trajectory Alignment9 Jan 2026
- 2026E-GRPO: High Entropy Steps Drive Effective Reinforcement Learning for Flow Models1 Jan 2026
- 2025Multi-GRPO: Multi-Group Advantage Estimation for Text-to-Image Generation with Tree-Based Trajectories and Multiple Rewards30 Nov 2025
- 2025GARDO: Reinforcing Diffusion Models without Reward Hackingcited by 17
- 2026RAVEN: Real-time Autoregressive Video Extrapolation with Consistency-model GRPOcited by 7
- 2026AEGPO: Adaptive Entropy-Guided Policy Optimization for Diffusion Modelscited by 5
- 2026TMPO: Trajectory Matching Policy Optimization for Diverse and Efficient Diffusion Alignmentcited by 4
- 2026FP4 Explore, BF16 Train: Diffusion Reinforcement Learning via Efficient Rollout Scalingcited by 3
- 2026When Policy Entropy Constraint Fails: Preserving Diversity in Flow-based RLHF via Perceptual Entropycited by 3
- 2026RAVEN: Real-time Autoregressive Video Extrapolation with Consistency-model GRPO14 May 2026
- 2026When Policy Entropy Constraint Fails: Preserving Diversity in Flow-based RLHF via Perceptual Entropy12 May 2026
- 2026TMPO: Trajectory Matching Policy Optimization for Diverse and Efficient Diffusion Alignment9 May 2026
- 2026FP4 Explore, BF16 Train: Diffusion Reinforcement Learning via Efficient Rollout Scaling8 Apr 2026
- 2026AEGPO: Adaptive Entropy-Guided Policy Optimization for Diffusion Models6 Feb 2026
- 2025GARDO: Reinforcing Diffusion Models without Reward Hacking30 Dec 2025
Similar, not cited
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- 2025Rethinking Test Time Scaling for Flow-Matching Generative Models
- 2025Letting Trajectories Spread: Quality-Preserving Control for Diverse Flow Matching
- 2025Principled RL for Flow Matching Emerges from the Chunk-level Policy Optimization
- 2026Generation Navigator: A State-Aware Agentic Framework for Image Generation
- 2026Learning to Credit the Right Steps: Objective-aware Process Optimization for Visual Generation
- 2026From Broad Exploration to Stable Synthesis: Entropy-Guided Optimization for Autoregressive Image Generation
- 2026Exploring the Design Space of Reward Backpropagation for Flow Matching
- 2025Smart-GRPO: Smartly Sampling Noise for Efficient RL of Flow-Matching Models