FPO++

[project page] [arxiv]

Code release for our paper:

Flow Policy Gradients for Robot Control. Brent Yi12*, Hongsuk Choi12*, Himanshu Gaurav Singh12, Xiaoyu Huang12, Takara E. Truong13, Carmelo Sferrazza1, Yi Ma24, Rocky Duan1†, Pieter Abbeel12†, Guanya Shi15†, Karen Liu13†, and Angjoo Kanazawa12†

¹Amazon FAR, ²UC Berkeley, ³Stanford, ⁴HKU, ⁵CMU, ^*Equal Contribution, ^†Amazon FAR Team Co-lead

Planned Timeline

• (Feb 3, 2026) Paper release
• (Feb 16, 2026) Manipulation finetuning
• (Mar 1, 2026) IsaacLab code for locomotion and motion tracking

License

This project is licensed under the Apache-2.0 License.