Flow-matching-based vision-language-action (VLA) models have emerged as powerful policies for robotic manipulation, yet a critical capability remains underexplored: fine-grained behavioral control, the ability to govern how a robot performs a task by intervening on its internal r…
We elucidate the design space of Representation Distribution Matching (RDM), our name for the paradigm that trains a one-step image generator by matching generated and reference feature distributions under frozen pretrained encoders. We identify two design axes, how the distribut…