Tag
Introduces Flow Reversal Steering (FRS), a method to refine coarse actions from semantic reasoning into precise robot actions by reversing and re-denoising through a flow-matching generalist policy, improving zero-shot control and enabling policy learning.
Flow reversal steering enables steering diffusion-based vision-language-action models with high-level actions, such as from VLM reasoning, and allows RL in diffusion noise space for task exploration.