{"paper":{"title":"Guided Action Flow: Q-Guided Inference for Flow-Matching Vision-Language-Action Policies","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Chenchao Sheng, Liuhaichen Yang, Zezhi Tang, Zhuang Jiang","submitted_at":"2026-07-02T12:30:50Z","abstract_excerpt":"Flow-matching vision-language-action policies generate robot action chunks through an iterative transport process, creating an opportunity for test-time guidance without retraining the base policy. We study this opportunity in Guided Action Flow, an inference-time framework that keeps a pretrained SmolVLA policy frozen and uses a learned action-chunk critic to guide its reverse-time flow sampler. The critic is trained from real success and failure rollouts, can condition on task-description features from the frozen SmolVLA language pathway, and is used only through action gradients during samp"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.02092","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.02092/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}