# ACT-Flow: Learning Visual Insertion Error Correction with Critic-Weighted Residual Flow

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/ku2up2bkobh96s1ap4rcur6hm
- Original: https://arxiv.org/abs/2610.29117

## Summary

ACT-Flow is an online learning framework that combines an adaptive Action Chunking Transformer (ACT) with a conditional residual flow policy, allowing ACT to absorb successfully executed actions through behavioral cloning, with residual targets recomputed relative to the updated prior.