# TOPS: Reshaping Flow Source and Transport for Multi-Task Robot Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-28T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/zb2e1qls5junq8i930igky8dc
- Original: https://arxiv.org/abs/2610.36694

## Summary

TOPS proposes a task-oriented prior and scheduling method that adapts the flow-matching source prior and interpolation schedule for each task without modifying the network architecture. On LIBERO-10, single-step inference raises the success rate from 53.44% for standard flow matching with ten steps to 69.67%, with inference time about one-sixth of the baseline. The method improves performance on LIBERO, LIBERO-Plus, and CALVIN, and when transferred to the π0.5 policy, and on a real robot it raises the success rate on an upper-drawer-opening task from 20% to 80%.