Author

Jiayuan Mao

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Preprint Oct 2026

Residual Modeling Closes the Regression and Generative Policy Gap in Robot Learning

Learning from demonstration has enabled impressive robot behaviors. A common choice for policy learning is to use diffusion or flow matching (Flow-Policies), which often outperforms direct action regression trained with mean squared error (MSE-Policies). This gap is commonly attributed to multimodal demonstrations. We...

Yu-Chen Zhou, Jia-Cheng You, Wei-Kang Wan et al. · 0 citations

Jul 2026

Understanding and Mitigating the Video-Action Generalization Gap via Temporal Ratio

An inference-time adaptive guidance method is proposed, which exploits this intrinsic feature attention pattern to dynamically amplify compositional video conditioning signals precisely when the policy relies on future rollouts, and mitigates the OOD-ID compositional generalization gap.

U. A. Mishra, Yongxin Chen, Danfei Xu et al. · arXiv.org · 1 citation