arXiv:2511. 08583v2 Announce Type: replace-cross Abstract: Developing efficient and accurate visuomotor policies poses a central challenge in robotic imitation learning.
By Rong Xue, Jiageng Mao, Mingtong Zhang, Yue Wang
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.
By Zhenchen Dong, Fulin Chen, Jinna Fu, Jiaming Wu, Qingran Wu, Shengyuan Yu, Hongyu Yu, Yide Liu
arXiv:2606. 20135v1 Announce Type: cross Abstract: Flow matching has emerged as a standard paradigm for robotic manipulation owing to its strong expressive power for modelling complex, multimodal action distributions, alongside similar approaches like diffusion policy.
By Jianing Guo, Fangzheng Chen, Zihao Mao, Wong Lik Hang Kenny, Zhenhong Wu, Yu Li, Yishuai Cai, Yuanpei Chen, Yikun Ban, Kai Chen, Qi Dou, Yaodong Yang, Xianglong Liu, Huijie Zhao, Simin Li
arXiv:2606. 08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process.
By Zhexuan Zhou, Yichen Lai, Jinhao Zhang, Huizhe Li, Youmin Gong, Jie Mei
arXiv:2603.11984v2 Announce Type: replace
Abstract: Diffusion-based visuomotor policies model complex action distributions through iterative denoising, but repeated inference adds latency to robotic...
By Chongyang Xu, Yixian Zou, Tianyu Yang, Fanman Meng, Ziliang Feng, Li Lu, Shuaicheng Liu
FlowCorrect is a modular interactive imitation learning method that allows real‑time adaptation of generative flow‑matching manipulation policies using sparse, relative human corrections. During task execution, a human provides brief corrective pose nudges through a lightweight VR interface, and FlowCorrect locally adapts the policy without retraining the backbone, maintaining performance on previously learned scenarios. Experiments on a real‑world robot across four tabletop tasks show that, with a low correction budget, FlowCorrect achieves an 80% success rate on previously failed cases while preserving performance on solved scenarios.
By Edgar Welte, Yitian Shi, Rosa Wolf, Maximillian Gilles, Rania Rayyes