Real-time chunking (RTC) allows diffusion- and flow-based action chunking policies to execute smoothly and asynchronously, maintaining high success rates on dynamic tasks even with significant inference latency.
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FPRO applies Frenet-frame RL with curvature-torsion manufacturability constraints and PPO optimization to produce collision-free, fabricable pipe paths for aeroengines, outperforming Cartesian and baseline RL methods in experiments and real fabrication.
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Real-Time Execution of Action Chunking Flow Policies
Real-time chunking (RTC) allows diffusion- and flow-based action chunking policies to execute smoothly and asynchronously, maintaining high success rates on dynamic tasks even with significant inference latency.
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Design for Manufacturing: A Manufacturability Knowledge-Integrated Reinforcement Learning Framework for Free-Form Pipe Routing in Aeroengines
FPRO applies Frenet-frame RL with curvature-torsion manufacturability constraints and PPO optimization to produce collision-free, fabricable pipe paths for aeroengines, outperforming Cartesian and baseline RL methods in experiments and real fabrication.