PriGo: Test-Time Primitive Guidance to Diffusion and Flow Policies for Adaptive Robotic Manipulation

arXiv:2607.07076v1 Announce Type: new Abstract: Imitation learning has enabled remarkable progress in robotic manipulation, especially with diffusion and flow-based policies that generate complex visuomotor behaviors directly from demonstrations. Yet, despite their strong performance, these policies often fail to generalize across tasks and environments. A key reason is that existing policies tend to imitate superficial action correlations rather than the underlying intent. Inspired by the compo...