Paper

Flow-based Policy Adaptation without Policy Updates

arXiv:2606.06461v1 Announce Type: new Abstract: Leveraging prior knowledge from pretrained policies, foundation models, or human operators offers an efficient alternative to learning robot skills from scratch. However, these agents often provide actions that are suboptimal, noisy, or misaligned with task-specific expert behavior. We propose GLOVES, a family of flow-based adaptation methods that correct non-expert actions by transporting them toward an expert action distribution. Rather than replacing agentic control with full autonomy, GLOVES performs selective action-level adaptation, improv…

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