A lightweight primitive classifier and differentiable guidance mechanism improve pretrained diffusion and flow manipulation policies by 3–7 points at test time without retraining.
Title resolution pending
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2026 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation
A lightweight primitive classifier and differentiable guidance mechanism improve pretrained diffusion and flow manipulation policies by 3–7 points at test time without retraining.