相关论文: Mean Flow Policy with Instantaneous Velocity Const…

Mean flow (MeanFlow) enables efficient, high-fidelity image generation, yet its single-function evaluation (1-NFE) generation often cannot yield compelling results. We address this issue by introducing RMFlow, an efficient multimodal…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Keeping risk under control is often more crucial than maximizing expected rewards in real-world decision-making situations, such as finance, robotics, autonomous driving, etc. The most natural choice of risk measures is variance, which…

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow…

Diffusion policies are expressive yet incur high inference latency. Flow Matching (FM) enables one-step generation, but integrating it into Maximum Entropy Reinforcement Learning (MaxEnt RL) is challenging: the optimal policy is an…

Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to…

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…

Standard RL algorithms assume fixed environment dynamics and require a significant amount of interaction to adapt to new environments. We introduce Policy-Dynamics Value Functions (PD-VF), a novel approach for rapidly adapting to dynamics…

Generative recommendation has emerged as a transformative paradigm for capturing the dynamic evolution of user intents in sequential recommendation. While flow-based methods improve the efficiency of diffusion models, they remain hindered…

With the rapid development of embodied artificial intelligence, significant progress has been made in vision-language-action (VLA) models for general robot decision-making. However, the majority of existing VLAs fail to account for the…

MeanFlow (MF) is a diffusion-motivated generative model that enables efficient few-step generation by learning long jumps directly from noise to data. In practice, it is often used as a latent MF by leveraging the pre-trained Stable…

MeanFlow enables one-step generation in continuous spaces by learning an average velocity over a time interval rather than the instantaneous velocity field of flow matching. However, discrete state spaces do not have smooth trajectories or…

We present flow Q-learning (FQL), a simple and performant offline reinforcement learning (RL) method that leverages an expressive flow-matching policy to model arbitrarily complex action distributions in data. Training a flow policy with RL…

Lane change in dense traffic typically requires the recognition of an appropriate opportunity for maneuvers, which remains a challenging problem in self-driving. In this work, we propose a chance-aware lane-change strategy with high-level…

Skin-friction drag induced by wall-bounded turbulent flows accounts for a substantial fraction of energy consumption across commercial aerospace, wind energy, and marine transport. Its active reduction is one of the highest-value targets in…

One-step generative modeling has emerged as a leading approach to amortize the inference cost of diffusion and flow-matching models. Among distillation-free methods, MeanFlow training is notoriously unstable, with non-decreasing loss and…

Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and…

While flow matching is elegant, its reliance on single-sample conditional velocities leads to high-variance training targets that destabilize optimization and slow convergence. By explicitly characterizing this variance, we identify 1) a…

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…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…