Flow-matching policies are promising for imitation learning because they model complex multimodal action distributions. However, their stochasticity is largely passive: repeated sampling may yield diverse behaviors, but users cannot directly choose among valid continuations from…
Vision-Language-Action (VLA) models have become an important paradigm of embodied AI. However, existing VLA models typically assume well-lit and stable indoor settings, while real-world embodied manipulation may involve degraded RGB observations caused by illumination shifts, pos…