[2606.08015v1] Q-VGM: Q-Guided Value-Gradient Matching for Flow-Matching VLA Policies
the method leverages self-generated rollout data to substantially improve task performance without additional expert supervision. On LIBERO, Q-VGM raises the average success rate from 75.0% to 92.5%; on RoboTwin 2.0, from 76.4% to 87.2%; and on two real-robot tabletop tasks, from 40.0% to 67.5%, outperforming all same-backbone, same-c...