Related papers: HybridFlow: A Two-Step Generative Policy for Robot…

Recent advances in real-time interactive text-driven motion generation have enabled humanoids to perform diverse behaviors. However, kinematics-only generators often exhibit physical hallucinations, producing motion trajectories that are…

Flow based generative models have charted an impressive path across multiple visual generation tasks by adhering to a simple principle: learning velocity representations of a linear interpolant. However, we observe that training velocity…

Robotic manipulation in unstructured environments requires the generation of robust and long-horizon trajectory-level policy with conditions of perceptual observations and benefits from the advantages of SE(3)-equivariant diffusion models…

MeanFlow (MF) has recently been established as a framework for one-step generative modeling. However, its ``fastforward'' nature introduces key challenges in both the training objective and the guidance mechanism. First, the original MF's…

Generative policies based on diffusion and flow matching achieve strong performance in robotic manipulation by modeling multi-modal human demonstrations. However, their reliance on iterative Ordinary Differential Equation (ODE) integration…

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…

Data heterogeneity hinders clinical deployment of medical image analysis models, and generative data augmentation helps mitigate this issue. However, recent diffusion-based methods that synthesize image-mask pairs often ignore distribution…

We present a comprehensive comparative study of three generative modeling paradigms: Denoising Diffusion Probabilistic Models (DDPM), Conditional Flow Matching (CFM), and MeanFlow. While DDPM and CFM require iterative sampling, MeanFlow…

Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture complex, multimodal trajectory distributions. However, these…

While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a…

Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, their slow generation process stemming from iterative denoising…

Generative modelling has seen significant advances through simulation-free paradigms such as Flow Matching, and in particular, the MeanFlow framework, which replaces instantaneous velocity fields with average velocities to enable efficient…

Existing imitation learning methods enable robots to interact autonomously with the physical environment. However, contact-rich manipulation tasks remain a significant challenge due to complex contact dynamics that demand high-precision…

Generative models like Flow Matching have achieved state-of-the-art performance but are often hindered by a computationally expensive iterative sampling process. To address this, recent work has focused on few-step or one-step generation by…

Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that…

Video Generation Models (VGMs) have become powerful backbones for Vision-Language-Action (VLA) models, leveraging large-scale pretraining for robust dynamics modeling. However, current methods underutilize their distribution modeling…

Flow matching has emerged as a competitive framework for learning high-quality generative policies in robotics; however, we find that generalisation arises and saturates early along the flow trajectory, in accordance with recent findings in…

Denoising generative models, such as diffusion and flow-based models, produce high-quality samples but require many denoising steps due to discretization error. Flow maps, which estimate the average velocity between timesteps, mitigate this…

Flow-based generative models have greatly improved text-to-speech (TTS) synthesis quality, but inference speed remains limited by the iterative sampling process and multiple function evaluations (NFE). The recent MeanFlow model accelerates…

Flow Matching enables simulation-free training of generative models on Riemannian manifolds, yet sampling typically still relies on numerically integrating a probability-flow ODE. We propose Riemannian MeanFlow (RMF), extending MeanFlow to…