Predicting continuous B-spline action curves instead of discrete chunks lets visuomotor policies finish real and simulated manipulation tasks substantially faster without large success-rate loss.
Wu.NURBS Curve Based Trajectory Design, pages 221–244
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B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
Predicting continuous B-spline action curves instead of discrete chunks lets visuomotor policies finish real and simulated manipulation tasks substantially faster without large success-rate loss.