@article{grapegeneralizingrobotpolicyvia,
  title = {GRAPE: Generalizing Robot Policy via Preference Alignment},
  author = {Zijian Zhang and Kaiyuan Zheng and Zhaorun Chen and Joel Jang and Yi Li and Siwei Han and Chaoqi Wang and Mingyu Ding and Dieter Fox and Huaxiu Yao},
  year = {2024},
  eprint = {2411.19309},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2411.19309v2},
}