mlsanityData to 14 Oct 2026

SAIL: Self-Amplified Iterative Learning for Diffusion Model Alignment with Minimal Human Feedback

arXiv 2602.05380 ↗First posted 5 Feb 2026cs.CVcited by 3

On the map: Diffusion models → Diffusion and flow policies for robotics

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Abstract (arXiv)

Aligning diffusion models with human preferences remains challenging, particularly when reward models are unavailable or impractical to obtain, and collecting large-scale preference datasets is prohibitively expensive. textitThis raises a fundamental question: can we achieve effective alignment using only minimal human feedback, without auxiliary reward models, by unlocking the latent capabilities within diffusion models themselves? In this paper, we propose SAIL (Self-Amplified Iterative Learning), a novel framework that enables diffusion models to act as their own teachers through iterative self-improvement. Starting from a minimal seed set of human-annotated preference pairs, SAIL operates in a closed-loop manner where the model progressively generates diverse samples, self-annotates preferences based on its evolving understanding, and refines itself using this self-augmented dataset. To ensure robust learning and prevent catastrophic forgetting, we introduce a ranked preference mixup strategy that carefully balances exploration with adherence to initial human priors. Extensive experiments demonstrate that SAIL consistently outperforms state-of-the-art methods across multiple benchmarks while using merely 6% of the preference data required by existing approaches, revealing that diffusion models possess remarkable self-improvement capabilities that, when properly harnessed, can effectively replace both large-scale human annotation and external reward models.

Key facts. Cited by 3 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 23 of its 25 references that are in the map. First posted on arXiv 5 Feb 2026.

Builds on

23 of 25 references.

Closest ancestors · 6

Same direction, newest first

  1. 2024Margin-aware Preference Optimization for Aligning Diffusion Models without Reference10 Jun
  2. 2024Aligning Diffusion Models by Optimizing Human Utility6 Apr
  3. 2023Diffusion Model Alignment Using Direct Preference Optimization21 Nov
  4. 2023Directly Fine-Tuning Diffusion Models on Differentiable Rewards29 Sep
  5. 2023DPOK: Reinforcement Learning for Fine-tuning Text-to-Image Diffusion Models25 May
  6. 2023Training Diffusion Models with Reinforcement Learning22 May

Other references · 17

  1. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  2. 2023Direct Preference Optimization: Your Language Model is Secretly a Reward Modelcited by 8,065
  3. 2022Hierarchical Text-Conditional Image Generation with CLIP Latentscited by 6,585
  4. 2022Photorealistic Text-to-Image Diffusion Models with Deep Language Understandingcited by 6,355
  5. 2023SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesiscited by 4,356
  6. 2024Scaling Rectified Flow Transformers for High-Resolution Image Synthesiscited by 4,181
  7. 2023ImageReward: Learning and Evaluating Human Preferences for Text-to-Image Generationcited by 1,045
  8. 2023Pick-a-Pic: An Open Dataset of User Preferences for Text-to-Image Generationcited by 977
  9. 2023Human Preference Score v2: A Solid Benchmark for Evaluating Human Preferences of Text-to-Image Synthesiscited by 890
  10. 2025Process Reinforcement through Implicit Rewardscited by 504
  11. 2024Direct Language Model Alignment from Online AI Feedbackcited by 260
  12. 2023JourneyDB: A Benchmark for Generative Image Understandingcited by 205
5 more
  1. 2017A Deeper Look at Experience Replaycited by 105
  2. 2025Reward Shaping to Mitigate Reward Hacking in RLHFcited by 88
  3. 2024RRM: Robust Reward Model Training Mitigates Reward Hackingcited by 76
  4. 2024Bootstrapping Language Models with DPO Implicit Rewardscited by 53
  5. 2024Spread Preference Annotation: Direct Preference Judgment for Efficient LLM Alignmentcited by 27

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2026: 3.

3 papers.

Similar, not cited

Close in wording, no citation either way

  1. 2026Rethinking Preference Alignment for Diffusion Models with Classifier-Free Guidance
  2. 2025SIPO: Stabilized and Improved Preference Optimization for Aligning Diffusion Models
  3. 2026CRAFT: Aligning Diffusion Models with Fine-Tuning Is Easier Than You Think
  4. 2026Latent Reward Registers for Diffusion Preference Alignment
  5. 2025Diffusion Blend: Inference-Time Multi-Preference Alignment for Diffusion Models
  6. 2026Beyond Pairwise Preferences: Listwise Reward-Aware Alignment for Diffusion Models
  7. 2025Latent Embedding Adaptation for Human Preference Alignment in Diffusion Planners
  8. 2023AlignDiff: Aligning Diverse Human Preferences via Behavior-Customisable Diffusion Model