Robotics paper index
A Better Critic Matters for Distribution Matching Distillation
One-line summary
A robotics research paper on A Better Critic Matters for Distribution Matching Distillation.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Distribution Matching Distillation (DMD) trains a few-step student using the difference between a teacher's score and an online critic's estimate of the student distribution's score. We investigate what the critic needs, in capacity and in information, to provide a reliable training signal. On the capacity side, controlled experiments across seven SiT model sizes on ImageNet show that increasing teacher size while keeping a small critic fixed can degrade student quality and cause training collapse. Scaling the critic alongside the teacher, a strategy we call joint scaling, prevents collapse in our experiments and allows the student to benefit from larger teachers. On the information side, rather than forcing the critic to model a step-agnostic mixture of student outputs, we introduce a step-aware critic (STAC) that conditions on the student's generation step to estimate step-specific scores. Together, joint scaling and STAC consistently improve few-step distillation across class-conditional ImageNet generation, text-to-image generation with SDXL and FLUX.2, and text-to-video generation with Wan2.1.
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