2026
The Geometric Nature and a Free Proxy for Flow-Matching Uncertainty
Zi-Yang Rao, Yiren Zhao, Weiyu Guo et al.
· arXiv.org · 0 citations
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Source-Lifted Flow Matching for Intervenable Multimodal Imitation
Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sampling may yield diverse behaviors, but users cannot directly choose among valid continuations from the same state. We propose Source-Lifted...
He Zhang, Ying Sun, Pengteng Li et al.
· 0 citations
Preprint
Aug 2026
How Should Vision-Language-Action Models Use Proprioceptive State?
Five representative interfaces are implemented -- discrete state prompt, VLM prefix, action prefix, state expert, and feature modulation -- under matched implementation details, and evaluated on 45 atomic tasks spanning three task families plus 20 composite tasks.
Yiren Zhao, Ziyang Chen, Zi-Yang Rao et al.
· 0 citations