CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching

arXiv:2609.21982 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

Project page: https://zhao-sq.github.io/carf/#

Terminology

• Flow Matching — 15× in this paper · explained in 8 episodes
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Accuracy — 2× in this paper · explained in 1 episode
• Action Chunking — 2× in this paper · explained in 1 episode
• Q-learning — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Credit assignment — 1× in this paper · explained in 3 episodes
• Diffusion Model — 1× in this paper · explained in 8 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalizability — 1× in this paper · explained in 6 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Human-in-the-Loop — 1× in this paper · explained in 3 episodes
• IEEE International Conference on Robotics and Automation — 1× in this paper
• Robustness — 1× in this paper · explained in 5 episodes
• Scaling Laws — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• Universal Manipulation Interface: In-The-Wild Robot Teaching Without In-The-Wild Robots
• DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation
• DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
• Rewind-IL: Online Failure Detection and State Respawning for Imitation Learning
• Multi-Camera View Scaling for Data-Efficient Robot Imitation Learning
• CRAFT: Video Diffusion for Bimanual Robot Data Generation
• Fail2Progress: Learning from Real-World Robot Failures with Stein Variational Inference
• Using Non-Expert Data to Robustify Imitation Learning via Offline Reinforcement Learning
• $\pi^{*}_{0.6}$: a VLA That Learns From Experience
• FlowRetrieval: Flow-Guided Data Retrieval for Few-Shot Imitation Learning
• Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets
• Data Scaling Laws for Imitation Learning-Based End-to-End Autonomous Driving
• DexCtrl: Towards Sim-to-Real Dexterity with Adaptive Controller Learning
• EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
• Seeing to Act, Prompting to Specify: A Bayesian Factorization of Vision Language Action Policy
• Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
• Flow Matching for Generative Modeling
• DataMIL: Selecting Data for Robot Imitation Learning with Datamodels
• Ambient Diffusion Policy: Imitation Learning from Suboptimal Data in Robotics

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