FAFM performs flow matching in the frequency domain using DCT on action sequences to produce continuous temporally consistent robotic actions with a Sobolev-style smoothness regularizer.
Abpolicy: Asyn- chronous b-spline flow policy for real-time and smooth robotic manipulation.arXiv preprint arXiv:2602.23901, 2026
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Discrete diffusion policies act as natural asynchronous executors for robotics by treating action generation as iterative unmasking, yielding higher success rates and lower computation than flow-matching real-time chunking in dynamic tasks.
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Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation
FAFM performs flow matching in the frequency domain using DCT on action sequences to produce continuous temporally consistent robotic actions with a Sobolev-style smoothness regularizer.
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DiscreteRTC: Discrete Diffusion Policies are Natural Asynchronous Executors
Discrete diffusion policies act as natural asynchronous executors for robotics by treating action generation as iterative unmasking, yielding higher success rates and lower computation than flow-matching real-time chunking in dynamic tasks.