Action Flow Matching (AFM)

Code for the paper "Action Flow Matching for Continual Robot Learning" presented at Robotics: Science and Systems (RSS) 2025.

AFM enables efficient, non-episodic, online robot model refinement. AFM adjusts the planned actions seeking to reduce the gap between the intended and realized state transitions.

Citation

If you use this code, please cite our paper:

@article{murillogonzalez2025afm,
  title={Action Flow Matching for Continual Robot Learning},
  author={Murillo-Gonzalez, Alejandro and Liu, Lantao},
  journal={Robotics: Science and Systems (RSS)},
  year={2025}
}

Contact

For questions or issues, please contact:

• Alejandro Murillo-Gonzalez: almuri@iu.edu

Feel free to open GitHub issues or pull requests for contributions.