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

- Source: arXiv cs.RO
- Published: 2026-10-22T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/llg313y51eaqpji4y4o3rw9ws
- Original: https://arxiv.org/abs/2610.29692

## Summary

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.