arxivcs.RO2026-07-20
HCPG-Flow:Hierarchical Contact-Progress Guidance for Flow-Policy Robot Manipulation
Guanghu Xie, Mingxu Li, Shuo Zhang, Yonglong Zhang, Yifan Yang, Yang Liu, et al.
Flow policies can represent multimodal action distributions for robot manipulation, yet a robot must execute one action at each control step. When several proposals are sampled, critic-based ranking makes data collection depend on value estimates over candidate actions that may b…