FlowCorrect:机器人操作中生成流策略的高效交互式修正 / FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
1️⃣ 一句话总结
这篇论文提出了一个名为FlowCorrect的框架,它允许人类在机器人执行任务时,通过少量简单的姿势修正来即时调整其行为策略,从而显著提升机器人在复杂场景下的成功率,而无需重新训练整个模型。
Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We present FlowCorrect, a deployment-time correction framework that converts near-miss failures into successes using sparse human nudges, without full policy retraining. During execution, a human provides brief corrective pose nudges via a lightweight VR interface. FlowCorrect uses these sparse corrections to locally adapt the policy, improving actions without retraining the backbone while preserving the model performance on previously learned scenarios. We evaluate on a real-world robot across three tabletop tasks: pick-and-place, pouring, and cup uprighting. With a low correction budget, FlowCorrect improves success on hard cases by 85\% while preserving performance on previously solved scenarios. The results demonstrate clearly that FlowCorrect learns only with very few demonstrations and enables fast and sample-efficient incremental, human-in-the-loop corrections of generative visuomotor policies at deployment time in real-world robotics.
FlowCorrect:机器人操作中生成流策略的高效交互式修正 / FlowCorrect: Efficient Interactive Correction of Generative Flow Policies for Robotic Manipulation
这篇论文提出了一个名为FlowCorrect的框架,它允许人类在机器人执行任务时,通过少量简单的姿势修正来即时调整其行为策略,从而显著提升机器人在复杂场景下的成功率,而无需重新训练整个模型。
源自 arXiv: 2602.22056