A lightweight primitive classifier and differentiable guidance mechanism improve pretrained diffusion and flow manipulation policies by 3–7 points at test time without retraining.
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PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation
A lightweight primitive classifier and differentiable guidance mechanism improve pretrained diffusion and flow manipulation policies by 3–7 points at test time without retraining.