arxivcs.ROcs.AI2026-07-04
High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching
Yuran Chen, Xinye Cai, Zhonglin Gong, Yang Huang
Generative models such as diffusion and flow matching have advanced robotic visuomotor policies by modeling multimodal action distributions, but their multi-step sampling or ODE solving introduces inference latency. Existing one-step acceleration methods often compress the whole…