The paper introduces Source-Lifted Flow Matching (SL-FM), a flow-matching policy whose source endpoint becomes an intervention handle while the velocity field remains shared and latent-free. Its Orthogonal Source Lifting mechanism places handle-specific sources in auxiliary orthogonal coordinates while keeping target actions in the original action space, aiming to prevent branch merging at path crossings. The abstract reports that 91.1% of matched-prefix interventions change future routes, along with improvements on several robot-control benchmarks. These claims require verification against the full paper and experimental details.
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