VQActFlow: Vector-Quantized Action Mode Steering for Multi-Task Robot Manipulation

arXiv:2606.21600 · cs.RO · Submitted 2026-06-19 · Read on arXiv

cs.RO

Submitted: 2026-06-19

Updated: 2026-10-19

Comments: 8 pages, 7 figures, 5 tables; Accepted at IEEE RA-L, 2026; Project website https://vqactflow.github.io/vqactflow/

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmark — 2× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 17 episodes
• Inference-time guidance — 1× in this paper · explained in 2 episodes
• Steering — 1× in this paper · explained in 2 episodes

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