Preprint Open access
Bilinear Flow Policy: Distributional Extrapolation for Goal-Conditioned Visuomotor Imitation
Goal-conditioned imitation learning (GCIL) with flow matching is a promising framework that can represent multimodal behaviors while adapting to diverse, user-specified goals, yet often fails when goals lie outside the demonstration support. To extrapolate to such unseen goals without collapsing multimodality - a probl …