Zero-Shot Reactive Obstacle Avoidance for Generative Robot Policies

arXiv:2609.35231 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-09-29

Terminology

• Flow Matching — 7× in this paper · explained in 8 episodes
• Diffusion Model — 5× in this paper · explained in 8 episodes
• Diffusion Models — 5× in this paper · explained in 6 episodes
• Action Flow — 4× in this paper · explained in 1 episode
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Action Decoder — 2× in this paper · explained in 1 episode
• Calibration — 2× in this paper · explained in 7 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Benchmark — 1× in this paper · explained in 2 episodes
• Benchmarking — 1× in this paper · explained in 4 episodes
• Conference on Computer Vision and Pattern Recognition — 1× in this paper
• Decode — 1× in this paper · explained in 2 episodes
• Failure Modes — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• VLA Models — 1× in this paper · explained in 3 episodes
• Verification — 1× in this paper · explained in 2 episodes
• Vision-language models — 1× in this paper · explained in 2 episodes

Sources

• Action-to-Action Flow Matching
• VLS: Steering Pretrained Robot Policies via Vision-Language Models
• ACG: Action Coherence Guidance for Flow-based Vision-Language-Action models
• cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots
• OmniGuide: Universal Guidance Fields for Enhancing Generalist Robot Policies
• VLASH: Real-Time VLAs via Future-State-Aware Asynchronous Inference

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