B-spline Policy Enables Variable-Speed Robot Motion
du_yilun · x · 2026-07-16
This thread discusses why visuomotor policies are slow: a key bottleneck is action chunking, where the policy predicts waypoints at a fixed frequency, treating all task phases uniformly.
The author points out that real robot manipulation is not uniform: it should move faster in open spaces and slow down during contact-rich interaction phases. To this end, B-spline Policy represents actions as continuously sampleable curves, enabling execution at any control frequency and temporal rescaling, resulting in faster and smoother control.
Related event: B-spline Policy proposes faster, smoother robot manipulation(5 posts)→
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