arxivcs.ROcs.AI2026-07-02
Guided Action Flow: Q-Guided Inference for Flow-Matching Vision-Language-Action Policies
Liuhaichen Yang, Zhuang Jiang, Chenchao Sheng, Zezhi Tang
Flow-matching vision-language-action policies generate robot action chunks through an iterative transport process, creating an opportunity for test-time guidance without retraining the base policy. We study this opportunity in Guided Action Flow, an inference-time framework that…