Task-Prototype Guided Flow Matching for Few-Shot Generalization in Vision-Language Robot Manipulation

arXiv:2609.27780 · cs.RO, cs.CV · Submitted 2026-08-18 · Read on arXiv

cs.RO, cs.CV

Submitted: 2026-08-18

Updated: 2026-08-18

Terminology

• Flow Matching — 42× in this paper · explained in 8 episodes
• Generalization — 37× in this paper · explained in 13 episodes
• Adaptation — 24× in this paper · explained in 1 episode
• Robustness — 17× in this paper · explained in 5 episodes
• Transformer — 13× in this paper · explained in 2 episodes
• Consistency — 12× in this paper · explained in 3 episodes
• Alignment — 9× in this paper · explained in 1 episode
• Ablation — 8× in this paper · explained in 1 episode
• Regularization — 8× in this paper · explained in 3 episodes
• Benchmark — 7× in this paper · explained in 2 episodes
• AUC — 6× in this paper · explained in 2 episodes
• Affordance — 5× in this paper · explained in 1 episode
• Reinforcement Learning — 5× in this paper · explained in 4 episodes
• Actor — 4× in this paper · explained in 3 episodes
• Fine-Tuning — 4× in this paper · explained in 5 episodes
• Embeddings — 3× in this paper · explained in 2 episodes
• Action Chunking — 2× in this paper · explained in 1 episode
• Cosine Similarity — 2× in this paper · explained in 3 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Decoder — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Cross-Embodiment Transfer — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Few-Shot Learning — 1× in this paper · explained in 4 episodes
• Frozen model — 1× in this paper · explained in 3 episodes
• Grounding — 1× in this paper · explained in 3 episodes
• Meta-learning — 1× in this paper · explained in 2 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes

Sources

• 3D FlowMatch Actor: Unified 3D Policy for Single- and Dual-Arm Manipulation
• Affordance-based Robot Manipulation with Flow Matching

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