DR-APO: Decoupled-Representation Advantage-Guided Policy Optimization from Continuous Control to Embodied Navigation

Abstract

Policy representations in reinforcement learning have expanded beyond Gaussian policies to diffusion and flow-matching based generative policies. However, existing RL methods remain representation-specific, lacking a unified optimization interface for emerging generative policies. In particular, extending likelihood-based objectives to multi-step generative policies couples optimization to their internal generation process, where accumulated likelihood ratios can weaken the update signal. Meanwhile, generative-policy-specific methods often rely on multi-candidate generation and critic-based selection, improving overall return while providing limited improvement to the policy itself. We introduce DR-APO (Decoupled-Representation Advantage-Guided Policy Optimization), which decouples policy improvement from policy representation through advantage-guided target improvement and representation-compatible direct action fitting, providing a shared optimization principle for Gaussian, diffusion, and flow policies. Across five MuJoCo-v5 tasks, DR-APO remains competitive with SAC for Gaussian policies and achieves the best aggregate policy-only performance for both diffusion and flow-matching policies. NavDP post-training improves the Success Rate (SR) from 70.33% to 89.55% in simulation and from 25% to 65% in real-world navigation. These results demonstrate a unified policy-improvement principle across Gaussian, diffusion, and flow policies, from continuous-control learning to embodied-policy post-training.