TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
On the guidance of flow matching.arXiv preprint arXiv:2502.02150, 2025
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Empirical flow matching introduces coupled biases from plug-in estimation, including altered statistical targets, non-gradient minimizers, and non-unique dynamics via flux-null fields, with base distribution controlling kinetic energy tails.
citing papers explorer
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TouchGuide: Inference-Time Steering of Visuomotor Policies via Touch Guidance
TouchGuide improves contact-rich robot manipulation by steering diffusion or flow-matching visuomotor policies with tactile feasibility scores from a contrastively trained Contact Physical Model.
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On The Hidden Biases of Flow Matching Samplers
Empirical flow matching introduces coupled biases from plug-in estimation, including altered statistical targets, non-gradient minimizers, and non-unique dynamics via flux-null fields, with base distribution controlling kinetic energy tails.