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FlowVLA: Flow-Aware Physical Completion Estimation for Quantitative Robotic Pouring

FlowVLA separates action generation from physical-completion estimation. A shared π0.5 action expert learns approach, pour, and return, while a target-independent estimator fuses visual, joint, wrist-wrench, and recurrent force-belief histories to estimate transferred mass. It triggers return when this estimate plus predicted residual outflow reaches the requested mass.

Part of the event: FlowVLA improves robot quantitative pouring accuracy with physical completion estimation

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