arxivcs.RO2026-07-10
B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
Xiaoshen Han, Haoyu Xiong, Haonan Chen, Chaoqi Liu, Antonio Torralba, Yuke Zhu, et al.
In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks, BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points…