Momath Thiam

PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation

Zezeng Li, Enda Xiang, Thuy Tran, Di Huang, Momath Thiam, Liming Chen

Imitation learning has enabled remarkable progress in robotic manipulation, especially with diffusion and flow-based policies that generate complex visuomotor behaviors directly from demonstrations. Yet, despite their strong performance, these policies often fail to generalize ac…Read more