arxivcs.ROcs.AI2026-07-11
Source-Lifted Flow Matching for Intervenable Multimodal Imitation
He Zhang, Ying Sun, Pengteng Li, Ziyang Chen, Yiren Zhao, Ziyang Rao, et al.
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…