Zou, Guowei, Weibing Li, Hejun Wu, Yukun Qian, Yuhang Wang, and Haitao Wang. “D²PPO: Diffusion Policy Policy Optimization With Dispersive Loss”. Proceedings of the AAAI Conference on Artificial Intelligence 40, no. 22 (March 14, 2026): 18891–18899. Accessed May 27, 2026. https://ojs.aaai.org/index.php/AAAI/article/view/38959.