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TraceFlow is introduced, a progress-aligned guidance field that turns the action densities of retrieved successful and failed rollouts into a bounded correction to a frozen flow-matching action expert, using one terminal outcome bit per rollout and no other label.
Robots can mimic human actions but fail to grasp the underlying intent, with performance collapsing when faced with novel tasks that require true understanding.
Learning motion latents through geometric prediction enables robots to manipulate objects robustly in cluttered environments with minimal prior demonstrations.
