Reward design remains a central bottleneck for autonomous robot policy improvement, especially in long-horizon manipulation tasks where sparse success labels provide too little signal and binary preferences collapse many competing notions of quality into one ambiguous signal. We…
State-of-the-art flow models generate stunning images from text or image prompts. However, they suffer from diversity collapse when generating multiple samples under the same conditioning. Existing methods address this issue via either latent guidance, which has limited effective…