ManiFlow trains a flow-matching policy with a continuous-time consistency objective and an adaptive cross-attention transformer, enabling dexterous manipulation with 1-2 inference steps and substantially higher success rates than prior policies.
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ManiFlow: A General Robot Manipulation Policy via Consistency Flow Training
ManiFlow trains a flow-matching policy with a continuous-time consistency objective and an adaptive cross-attention transformer, enabling dexterous manipulation with 1-2 inference steps and substantially higher success rates than prior policies.