arXiv:2607. 10206v1 Announce Type: cross Abstract: Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions.
arXiv:2602. 09580v4 Announce Type: replace-cross Abstract: Real-world fine-tuning of dexterous manipulation policies remains challenging due to limited real-world interaction budgets and highly multimodal action distributions.
The paper investigates how generative behavioral-cloning policies handle multimodal expert behavior, identifying bottlenecks in both latent-variable and action-space policy designs. For latent-variable policies, preserving demonstrated modes depends on action-conditioned latent representations, and excessive posterior-prior regularization can suppress this information. In action-space generative policies, multimodality is limited by the smoothness of the base-to-action transport, requiring either sharp transitions or off-support bridge regions to capture many well-separated modes. Experiments on synthetic navigation and a physical-robot manipulation task confirm these findings, while standard robotic simulation benchmarks show limited conditional multimodality, making deterministic regression competitive.
arXiv:2511. 08583v2 Announce Type: replace-cross Abstract: Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learning.
arXiv:2607. 27138v1 Announce Type: cross Abstract: Vision-language-action (VLA) models remain constrained by scarce action-labeled robot data, whereas action-free videos offer abundant observations of physical change.
arXiv:2604.16683v2 Announce Type: replace-cross Abstract: Imitation learning has enabled robots to acquire complex visuomotor manipulation skills from demonstrations, but deployment failures remain a...
arXiv:2609.15883v1 Announce Type: cross Abstract: Offline reinforcement learning aims to learn a policy solely from fixed datasets, which often contain multimodal action distributions. Flow policies...
HybridFlow is a generative policy for robotic manipulation that uses a three‑stage inference procedure requiring only two network function evaluations (2‑NFE). The policy first generates a coarse action trajectory with a Global Jump based on MeanFlow, then refines the state using a parameter‑free ReNoise interpolation, and finally performs a Local Refine to query the instantaneous‑velocity limit. Experiments on RoboMimic and five real‑robot settings show that HybridFlow achieves high success rates and improves task performance over a 16‑step Diffusion Policy while reducing action‑generation latency by roughly eightfold.
arXiv:2505. 03296v2 Announce Type: replace-cross Abstract: We present Mixture of Discrete-time Gaussian Processes (MiDiGap), a novel approach for flexible policy representation and imitation learning in robot manipulation.
arXiv:2606. 01098v1 Announce Type: cross Abstract: Generative action policies based on diffusion or flow matching excel in behavior cloning, yet their iterative sampling is prohibitive for high-frequency robot control.
arXiv:2608. 07065v1 Announce Type: cross Abstract: Action-chunking visuomotor policies learn from demonstrations and improve temporal consistency by predicting short action sequences rather than single-step commands.
arXiv:2606. 08602v1 Announce Type: cross Abstract: We present an online reinforcement learning (RL) algorithm for fine-tuning flow-matching policies in continuous-control problems.
arXiv:2609.14261v1 Announce Type: cross Abstract: Recent robot learning paradigms increasingly rely on large offline datasets of robotic interactions to train control policies. Expressive generative...