arxivcs.RO2026-07-07
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas, João Moura, Michael Gienger, Sethu Vijayakumar
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially in the context of vision language action (VLA) models. However, high quality policy performance also…