新闻 · arXiv cs.LG

FlowDAgger: Human-in-the-Loop Adaptation of Generative Robot Policies in Latent Space

Pretrained generative robot policies based on flow matching and diffusion have achieved impressive results across a wide range of manipulation tasks. Yet real-world deployments routinely expose failure modes outside the pretraining distribution. Closing these gaps typically requires large-scale data collection or online reinforcement learning on physical hardware, which is impractical for rapid and safe adaptation. We present FlowDAgger, a sample- and compute-efficient method for adapting…