相关论文: Dense-Jump Flow Matching with Non-Uniform Time Sch…

Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…

The wide application of flow-matching methods has greatly promoted the development of robot imitation learning. However, these methods all face the problem of high inference time. To address this issue, researchers have proposed…

In robot manipulation, robot learning has become a prevailing approach. However, generative models within this field face a fundamental trade-off between the slow, iterative sampling of diffusion models and the architectural constraints of…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Flow-matching policies have emerged as a powerful paradigm for generalist robotics. These models are trained to imitate an action chunk, conditioned on sensor observations and textual instructions. Often, training demonstrations are…

Timestep sampling $p(t)$ is a central design choice in Flow Matching models, yet common practice increasingly favors static middle-biased distributions (e.g., Logit-Normal). We show that this choice induces a speed--quality trade-off:…

While behavior cloning with flow/diffusion policies excels at learning complex skills from demonstrations, it remains vulnerable to distributional shift, and standard RL methods struggle to fine-tune these models due to their iterative…

Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policies. Diffusion-based approaches offer…

Diffusion and flow matching have emerged as expressive policy classes in reinforcement learning, but their reliance on multi-step denoising imposes substantial computational overhead at inference time, which is particularly problematic in…

Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods,…

Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. However, their computationally expensive inference, due to the…

Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existing approaches remain limited in handling multiple types of…

We propose ReinFlow, a simple yet effective online reinforcement learning (RL) framework that fine-tunes a family of flow matching policies for continuous robotic control. Derived from rigorous RL theory, ReinFlow injects learnable noise…

The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have recently emerged as a promising solution to learning…

Robot manipulation has increasingly adopted data-driven generative policy frameworks, yet the field faces a persistent trade-off: diffusion models suffer from high inference latency, while flow-based methods often require complex…

Centralized trajectory optimization in the joint space of multiple robots allows access to a larger feasible space that can result in smoother trajectories, especially while planning in tight spaces. Unfortunately, it is often…

Prior flow matching methods in robotics have primarily learned velocity fields to morph one distribution of trajectories into another. In this work, we extend flow matching to capture second-order trajectory dynamics, incorporating…

Recent reinforcement learning has enhanced the flow matching models on human preference alignment. While stochastic sampling enables the exploration of denoising directions, existing methods which optimize over multiple denoising steps…

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 demonstrated exceptional performance in embodied AI. However, their iterative denoising process results in high latency, and existing acceleration methods often sacrifice physical consistency. To address this, we…