Harshavardhan Gajarla

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

Michael Murray, Daphne Chen, Simran Bagaria, Dean Fortier, Tess Hellebrekers, Galen Mullins, et al.

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 requi…Read more