A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
Actionflow: Equivariant, accurate, and efficient policies with spatially symmetric flow matching
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A multimodal visuotactile imitation learning framework using transformers and flow-based models improves robotic performance on the contact-rich task of match lighting.
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Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
A morphologically equivariant flow matching policy for bimanual robots enforces reflective symmetry to improve sample efficiency and enable zero-shot generalization to mirrored task configurations.
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On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting
A multimodal visuotactile imitation learning framework using transformers and flow-based models improves robotic performance on the contact-rich task of match lighting.