UniConFlow is a unified constrained flow‑matching framework that generates robot trajectories while systematically handling both equality and inequality constraints such as collision avoidance, actuation limits, and dynamic consistency. It introduces a prescribed‑time zeroing function to shape a time‑varying guidance field during inference, and employs a violation‑segment extraction protocol and trajectory compression to address computational challenges in long‑horizon, high‑dimensional planning. Experiments on a double inverted pendulum, a real‑to‑sim car racing task, and a sim‑to‑real manipulation task show that UniConFlow outperforms state‑of‑the‑art generative planners and conventional optimization baselines on certified motion planning metrics like safety, kinodynamic consistency, and action feasibility.
By Zewen Yang, Xiaobing Dai, Dian Yu, Zhijun Li, Majid Khadiv, Sandra Hirche, Sami Haddadin
arXiv:2610.02260v1 Announce Type: new
Abstract: Flow matching models excel at generative modeling, and many downstream applications require their samples to satisfy prescribed constraints, such as ob...
By Yesom Park, Kelvin Kan, Qifan Chen, Thomas Flynn, Hayden Schaeffer. Xihaier Luo
arXiv:2606. 15359v1 Announce Type: new Abstract: Diffusion models have emerged as powerful tools for planning and control by learning multimodal distributions over actions and trajectories.
By Paolo Giaretta, Zeyang Li, Navid Azizan
The paper introduces Primal-Dual Flow Matching (PDFM), a method for learning data generators that satisfy user‑specified sample‑wise constraints with a guaranteed probability of satisfaction. PDFM builds on a population‑level constrained negative log‑likelihood objective and a flow‑matching parameterization, providing theoretical guarantees under regularity and expressivity assumptions. Practically, PDFM requires only binary membership oracle feedback, avoids differentiable distance metrics or convexity assumptions, and empirically outperforms vanilla flow matching while maintaining distributional fidelity.
By Zhengyan Huan, Peter Y. Lu, Shuchin Aeron
arXiv:2601. 14430v2 Announce Type: replace-cross Abstract: Controlling generative models is computationally expensive.
By Peter Potaptchik, Adhi Saravanan, Abbas Mammadov, Alvaro Prat, Michael S. Albergo, Yee Whye Teh
arXiv:2602. 21429v3 Announce Type: replace Abstract: Flow-based generative models, such as diffusion models and flow matching models, have achieved remarkable success in learning complex data distributions.
By Darshan Gadginmath, Ahmed Allibhoy, Fabio Pasqualetti
arXiv:2511. 05355v3 Announce Type: replace Abstract: Flow matching (FM) has shown promising results in data-driven planning.
By Tzu-Yuan Huang, Armin Lederer, Dai-Jie Wu, Xiaobing Dai, Sihua Zhang, Hsiu-Chin Lin, Shao-Hua Sun, Stefan Sosnowski, Sandra Hirche
CF‑VLA introduces a two‑stage coarse‑to‑fine approach for vision‑language‑action policies, replacing multi‑step sampling with a coarse initialization that constructs an action‑aware starting point and a single‑step refinement that corrects residual errors. The coarse stage learns a conditional posterior over endpoint velocity to transform Gaussian noise into a structured initialization, while the fine stage performs a fixed‑time refinement. Experiments on CALVIN and LIBERO demonstrate that CF‑VLA achieves a strong efficiency‑performance trade‑off, reducing action sampling latency by 75.4 % and achieving an 83.0 % real‑robot success rate, outperforming existing NFE=2 methods and matching or surpassing NFE=10 baselines.
By Fan Du, Feng Yan, Jianxiong Wu, Xinrun Xu, Weiye Zhang, Weinong Wang, Yu Guo, Bin Qian, Zhihai He, Fei Wang, Heng Yang
arXiv:2606. 11075v1 Announce Type: new Abstract: Aligning text-to-image flow matching models with human preferences via direct reward backpropagation is sample-efficient but hampered by two well-known pathologies: activations cannot be stored across the full sampling trajectory at modern model scale, and chained Jacobian products across steps inflate the reward gradient as it travels back to early indices.
By Ruoyu Wang, Boye Niu, Xiangxin Zhou, Yushi Huang, Tongliang Liu, Chi Zhang
PMosFM introduces a preconditioned manifold matching framework that enables one‑step physics‑constrained generation by encoding constraints in a manifold decoder. The method learns transport in intrinsic coordinates, eliminating the need for residual losses or trajectory unrolling, and employs a geometric preconditioner and covariance transform to improve conditioning. Experiments demonstrate reduced training and sampling time compared to multi‑step baselines while maintaining comparable physical and distributional fidelity.
By Zhangyong Liang, Haibin Ling
arXiv:2601. 22211v2 Announce Type: replace Abstract: Reinforcement learning (RL) with combinatorial action spaces remains challenging because feasible action sets are exponentially large and governed by complex feasibility constraints, making direct policy parameterization impractical.
By Lingkai Kong, Anagha Satish, Hezi Jiang, Akseli Kangaslahti, Andrew Ma, Wenbo Chen, Mingxiao Song, Lily Xu, Milind Tambe
arXiv:2606. 13400v1 Announce Type: cross Abstract: While flow-based generative models have demonstrated strong performance across a wide range of domains, deploying them in safety-critical physical systems remains challenging due to strict constraint requirements.
By Jianming Ma, Qiyue Yang, Yang Zhang, Liyun Yan, Zhanxiang Cao, Yazhou Zhang, Yue Gao