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CARF: Contrastive Attraction-Repulsion of Failure-Guided Flow Matching

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Robot demonstration collection often produces imperfect or failed trajectories in addition to successful demonstrations. Existing methods typically exploit failed trajectories by identifying segments that still make progress toward task completion, but largely overlook \textit{failure-critical behaviors} that directly lead to task failure. Here we argue that these two types of segments provide fundamentally asymmetric supervision: progressive segments should be imitated, whereas failure-critical segments should be explicitly avoided. Based on this observation, we propose CARF, a Contrastive At

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