@misc{zhang2024grape,
                title={GRAPE: Generalizing Robot Policy via Preference Alignment}, 
                author={Zijian Zhang and Kaiyuan Zheng and Zhaorun Chen and Joel Jang and Yi Li and Chaoqi Wang and Mingyu Ding and Dieter Fox and Huaxiu Yao},
                year={2024},
                eprint={2411.19309},
                archivePrefix={arXiv},
                primaryClass={cs.RO},
                url={https://arxiv.org/abs/2411.19309}, 
}