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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