# PPGuide: Steering Diffusion Policies with Performance Predictive Guidance

arXiv: https://arxiv.org/abs/2603.10980 · HTML: https://mlsanity.com/paper/2603.10980/

## Key facts

- Cited by 2 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 31 of its 37 references that are in the map.
- First posted on arXiv 11 Mar 2026.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)

## Builds on (most cited first, 30 of 31)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Diffusion Models Beat GANs on Image Synthesis](https://mlsanity.com/paper/2105.05233/) (2021)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Attention-based Deep Multiple Instance Learning](https://mlsanity.com/paper/1802.04712/) (2018)
- [Planning with Diffusion for Flexible Behavior Synthesis](https://mlsanity.com/paper/2205.09991/) (2022)
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021)
- [TransMIL: Transformer based Correlated Multiple Instance Learning for Whole Slide Image Classification](https://mlsanity.com/paper/2106.00908/) (2021)
- [Is Conditional Generative Modeling all you need for Decision-Making?](https://mlsanity.com/paper/2211.15657/) (2022)
- [Dual-stream Multiple Instance Learning Network for Whole Slide Image Classification with Self-supervised Contrastive Learning](https://mlsanity.com/paper/2011.08939/) (2020)
- [MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations](https://mlsanity.com/paper/2310.17596/) (2023)
- [Diffusion Policy Policy Optimization](https://mlsanity.com/paper/2409.00588/) (2024)
- [HG-DAgger: Interactive Imitation Learning with Human Experts](https://mlsanity.com/paper/1810.02890/) (2018)
- [DTFD-MIL: Double-Tier Feature Distillation Multiple Instance Learning for Histopathology Whole Slide Image Classification](https://mlsanity.com/paper/2203.12081/) (2022)
- [Goal-Conditioned Imitation Learning using Score-based Diffusion Policies](https://mlsanity.com/paper/2304.02532/) (2023)
- [DART: Noise Injection for Robust Imitation Learning](https://mlsanity.com/paper/1703.09327/) (2017)
- [Whole Slide Images based Cancer Survival Prediction using Attention Guided Deep Multiple Instance Learning Networks](https://mlsanity.com/paper/2009.11169/) (2020)
- [MIST: Multiple Instance Self-Training Framework for Video Anomaly Detection](https://mlsanity.com/paper/2104.01633/) (2021)
- [Steering Your Generalists: Improving Robotic Foundation Models via Value Guidance](https://mlsanity.com/paper/2410.13816/) (2024)
- [Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models](https://mlsanity.com/paper/2401.03360/) (2023)
- [From Imitation to Refinement -- Residual RL for Precise Assembly](https://mlsanity.com/paper/2407.16677/) (2024)
- [Teach a Robot to FISH: Versatile Imitation from One Minute of Demonstrations](https://mlsanity.com/paper/2303.01497/) (2023)
- [Policy Decorator: Model-Agnostic Online Refinement for Large Policy Model](https://mlsanity.com/paper/2412.13630/) (2024)
- [Unbiased Multiple Instance Learning for Weakly Supervised Video Anomaly Detection](https://mlsanity.com/paper/2303.12369/) (2023)
- [From Foresight to Forethought: VLM-In-the-Loop Policy Steering via Latent Alignment](https://mlsanity.com/paper/2502.01828/) (2025)
- [DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance](https://mlsanity.com/paper/2506.13922/) (2025)
- [Inference-Time Policy Steering through Human Interactions](https://mlsanity.com/paper/2411.16627/) (2024)
- [Latent Policy Barrier: Learning Robust Visuomotor Policies by Staying In-Distribution](https://mlsanity.com/paper/2508.05941/) (2025)
- [FDPP: Fine-tune Diffusion Policy with Human Preference](https://mlsanity.com/paper/2501.08259/) (2025)
- [Force-Constrained Visual Policy: Safe Robot-Assisted Dressing via Multi-Modal Sensing](https://mlsanity.com/paper/2311.04390/) (2023)
- [DeRi-Bot: Learning to Collaboratively Manipulate Rigid Objects via Deformable Objects](https://mlsanity.com/paper/2305.13183/) (2023)

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

- [Self-Improving VLA Policies: Selected Diffusion Noise for Spurious-Robust Action Smoothing](https://mlsanity.com/paper/2606.14084/) (2026)
- [ReGuide: From Test-Time Guidance to Self-Improving Diffusion Policies](https://mlsanity.com/paper/2606.28939/) (2026)

## Abstract (arXiv)

Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound over time which can potentially lead to failure. Some approaches mitigate this by augmenting datasets with expert demonstrations or learning predictive world models which might be computationally expensive. We introduce Performance Predictive Guidance (PPGuide), a lightweight, classifier-based framework that steers a pre-trained diffusion policy away from failure modes at inference time. PPGuide makes use of a novel self-supervised process: it uses attention-based multiple instance learning to automatically estimate which observation-action chunks from the policy's rollouts are relevant to success or failure. We then train a performance predictor on this self-labeled data. During inference, this predictor provides a real-time gradient to guide the policy toward more robust actions. We validated our proposed PPGuide across a diverse set of tasks from the Robomimic and MimicGen benchmarks, demonstrating consistent improvements in performance.