# Robust Learning of Diffusion Models with Extremely Noisy Conditions

arXiv: https://arxiv.org/abs/2510.10149 · HTML: https://mlsanity.com/paper/2510.10149/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion foundations and sampling, one of 14 directions in Diffusion models.
- Builds on 68 of its 85 references that are in the map.
- First posted on arXiv 11 Oct 2025.

## Placed in

- Diffusion models / [Diffusion foundations and sampling](https://mlsanity.com/diffusion/diffusion-foundations-and-sampling/)

## Builds on (most cited first, 30 of 68)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Score-Based Generative Modeling through Stochastic Differential Equations](https://mlsanity.com/paper/2011.13456/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Classifier-Free Diffusion Guidance](https://mlsanity.com/paper/2207.12598/) (2022)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [Improved Techniques for Training GANs](https://mlsanity.com/paper/1606.03498/) (2016)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Co-teaching: Robust Training of Deep Neural Networks with Extremely Noisy Labels](https://mlsanity.com/paper/1804.06872/) (2018)
- [Temporal Ensembling for Semi-Supervised Learning](https://mlsanity.com/paper/1610.02242/) (2016)
- [Diffusion-LM Improves Controllable Text Generation](https://mlsanity.com/paper/2205.14217/) (2022)
- [Generalized Cross Entropy Loss for Training Deep Neural Networks with Noisy Labels](https://mlsanity.com/paper/1805.07836/) (2018)
- [QT-Opt: Scalable Deep Reinforcement Learning for Vision-Based Robotic Manipulation](https://mlsanity.com/paper/1806.10293/) (2018)
- [DivideMix: Learning with Noisy Labels as Semi-supervised Learning](https://mlsanity.com/paper/2002.07394/) (2020)
- [Learning to Reweight Examples for Robust Deep Learning](https://mlsanity.com/paper/1803.09050/) (2018)
- [Making Deep Neural Networks Robust to Label Noise: a Loss Correction Approach](https://mlsanity.com/paper/1609.03683/) (2016)
- [MentorNet: Learning Data-Driven Curriculum for Very Deep Neural Networks on Corrupted Labels](https://mlsanity.com/paper/1712.05055/) (2017)
- [Conditional Image Synthesis With Auxiliary Classifier GANs](https://mlsanity.com/paper/1610.09585/) (2016)
- [Implicit Behavioral Cloning](https://mlsanity.com/paper/2109.00137/) (2021)
- [DiffuSeq: Sequence to Sequence Text Generation with Diffusion Models](https://mlsanity.com/paper/2210.08933/) (2022)
- [Robust Loss Functions under Label Noise for Deep Neural Networks](https://mlsanity.com/paper/1712.09482/) (2017)
- [Reliable Fidelity and Diversity Metrics for Generative Models](https://mlsanity.com/paper/2002.09797/) (2020)
- [Early-Learning Regularization Prevents Memorization of Noisy Labels](https://mlsanity.com/paper/2007.00151/) (2020)
- [Understanding Diffusion Objectives as the ELBO with Simple Data Augmentation](https://mlsanity.com/paper/2303.00848/) (2023)
- [Joint Optimization Framework for Learning with Noisy Labels](https://mlsanity.com/paper/1803.11364/) (2018)
- [Inversion-Based Style Transfer with Diffusion Models](https://mlsanity.com/paper/2211.13203/) (2022)
- [Normalized Loss Functions for Deep Learning with Noisy Labels](https://mlsanity.com/paper/2006.13554/) (2020)
- [cGANs with Projection Discriminator](https://mlsanity.com/paper/1802.05637/) (2018)

## Built on by (most cited first, 2 of 2)

- [Outlier-Robust Diffusion Solvers for Inverse Problems](https://mlsanity.com/paper/2605.09477/) (2026)
- [MemCorr-DP: Counterfactual Correspondence Conditioning for a Diffusion Policy Guided by a Reference](https://mlsanity.com/paper/2609.06615/) (2026)

## Abstract (arXiv)

Conditional diffusion models have the generative controllability by incorporating external conditions. However, their performance significantly degrades with noisy conditions, such as corrupted labels in the image generation or unreliable observations or states in the control policy generation. This paper introduces a robust learning framework to address extremely noisy conditions in conditional diffusion models. We empirically demonstrate that existing noise-robust methods fail when the noise level is high. To overcome this, we propose learning pseudo conditions as surrogates for clean conditions and refining pseudo ones progressively via the technique of temporal ensembling. Additionally, we develop a Reverse-time Diffusion Condition (RDC) technique, which diffuses pseudo conditions to reinforce the memorization effect and further facilitate the refinement of the pseudo conditions. Experimentally, our approach achieves state-of-the-art performance across a range of noise levels on both class-conditional image generation and visuomotor policy generation tasks.The code can be accessible via the project page https://robustdiffusionpolicy.github.io