ResearchResearch paperEfficiency & Inference · Reinforcement Learning · Robotics & Embodied AI1 source · Oct 18, 2026

Steered Not Stirred: Effective Reward Tilting using Surrogate Reward Mixing

Given a small feedback set of oracle rankings or numerical rewards, we introduce Mixing And Reward Tilting for INference-time Improvement (MARTINI), which learns a surrogate composition for plug-and-play use with standard inference-time steering methods.

Key points

  • Continuous-time generative models, from diffusion models, flow matching, and now flow maps, owe their practical value to high-fidelity generation and steerability.
  • In this paper, we present a method for composing such surrogates to steer a pretrained model toward the distribution tilted by an unavailable $R^$.
  • Our theory characterizes surrogate information limits and relates population recovery error to ideal-target KL at small tilt strength.
  • Experiments demonstrate improved oracle-tilt fidelity in language generation and ImageNet alignment, and improved joint pose accuracy and validity in protein-ligand cofolding, without inference-time oracle queries.

Sources (1)

  • [1]Steered Not Stirred: Effective Reward Tilting using Surrogate Reward Mixing
    arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 18, 07:42 PM
    Given a small feedback set of oracle rankings or numerical rewards, we introduce Mixing And Reward Tilting for INference-time Improvement (MARTINI), which learns a surrogate composition for plug-and-play use with standard inference-time steering methods.
    Continuous-time generative models, from diffusion models, flow matching, and now flow maps, owe their practical value to high-fidelity generation and steerability.

Extractive summary: sentences quoted from the sources.

Before this

  1. Oct 18, 2026AffordanceWAM: Affordance-Aware Joint World-Action Modeling for Robot Manipulation
  2. Oct 16, 2026[Research] 2,788 tokens/s on a single RTX 5090 with a diffusion LLM — Introducing ORL (fully open source)
  3. Oct 16, 2026Logic-Guided Graph Denoising Diffusion Models
  4. Oct 16, 2026Data-Efficient Classifier Pretraining Through Diffusion Models
  5. Oct 16, 2026DIFFLET: A Fast Inference Engine for Diffusion Transformer Models on AWS Trainium
  6. Oct 16, 2026Learning to Be Guided: Shaping Latent Geometry for Classifier-Free Guidance

Related