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(VLEmbeddings, NoiseTrajectory) -> ActionTrajectory
Generate robot action trajectories by integration of a vector field learned via flow matching, taking Gaussian noise and conditioning features as input to produce continuous actions.
Problem it solves
High-dimensional, highly multi-modal robot action distributions are poorly modeled by standard regression, causing averaging artifacts or unstable trajectories.
Consumes
Emits
The real projects this mechanism was found in. Attribution is the point — this is how the best teams actually do it.