Flow as Flow: Modeling Robot Velocity Fields as Probability Velocity Fields for Flow-Based Object Manipulation

arXiv:2606.23090 · cs.RO · Submitted 2026-06-22 · Read on arXiv

cs.RO

Submitted: 2026-06-22

Updated: 2026-09-24

Terminology

• Flow Matching — 27× in this paper · explained in 7 episodes
• Benchmark — 9× in this paper · explained in 2 episodes
• Foundation Model — 8× in this paper · explained in 3 episodes
• Fine-Tuning — 7× in this paper · explained in 5 episodes
• Foundation Models — 7× in this paper · explained in 7 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Diffusion Model — 6× in this paper · explained in 8 episodes
• Diffusion Models — 6× in this paper · explained in 6 episodes
• Transformer — 6× in this paper · explained in 2 episodes
• World Model — 6× in this paper · explained in 7 episodes
• Affordance — 4× in this paper · explained in 1 episode
• Ablation Studies — 3× in this paper · explained in 1 episode
• Ablation study — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Reinforcement Learning — 3× in this paper · explained in 4 episodes
• Robustness — 3× in this paper · explained in 5 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Action Chunking — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Data Augmentation — 1× in this paper · explained in 7 episodes
• Diffusion Policy — 1× in this paper
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Embeddings — 1× in this paper · explained in 2 episodes
• Embodied AI — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Latent Diffusion Models — 1× in this paper · explained in 2 episodes
• Multimodal Inputs — 1× in this paper · explained in 2 episodes
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Optical Flow — 1× in this paper · explained in 2 episodes
• Optimal Transport — 1× in this paper · explained in 5 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Scaling Laws — 1× in this paper · explained in 4 episodes
• Segmentation Masks — 1× in this paper · explained in 2 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Tokenization — 1× in this paper · explained in 2 episodes
• U-net architecture — 1× in this paper · explained in 3 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• GigaBrain-0: A World Model-Powered Vision-Language-Action Model
• HiFlow: Tokenization-Free Scale-Wise Autoregressive Policy Learning via Flow Matching
• GigaWorld-0: World Models as Data Engine to Empower Embodied AI
• Qwen2.5-VL Technical Report

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