Author

Masha Itkina

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#artificial intelligence Preprint Sep 2026

The Gaussian Is Enough: Flow-Matching Priors Do Not Help When Fine-Tuning Large Behavior Models

Modern robot imitation learning increasingly relies on generative policies based on diffusion or flow-matching models, which generate actions by transforming samples from a prior distribution. A key question is whether the choice of prior matters. Replacing the standard Gaussian with a closer-to-target, non-Gaussian pr...

Chen Xu, Rishi Shah, H. Kress-Gazit et al. · 0 citations

Preprint Aug 2026

Memory Anchors for Continual Robot Learning

Robot policies deployed in the wild should have the capability to continually learn new tasks without forgetting existing behaviors. A common approach to combat such catastrophic forgetting is to train on new task data with a replay buffer of previously learned task data. Although this buffer is commonly sampled random...

Maximilian Du, Zhanyi Sun, Chen Xu et al. · 0 citations