@Haoyu_Xiong_: Success rate has long been the primary metric for evaluating robot manipulation. What about speed? Today, we introduce …
Summary
Introduces B-spline Policy (BSP), which parameterizes actions as continuous B-spline curves instead of discrete fixed-rate action chunks, enabling faster and smoother manipulation on low-cost robot arms.
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Cached at: 07/16/26, 02:01 AM
Success rate has long been the primary metric for evaluating robot manipulation. What about speed?
Today, we introduce B-spline Policy (BSP). Instead of predicting discrete fixed-rate action chunks, we parameterize actions as continuous B-spline curves. Together with our system design, BSP enables fast manipulation on low-cost robot arms.
This project is co-led by @xshenhan, check out his following threads for more details.
PS: one of my favorite parts of this project was the first time we saw the robots move significantly faster and smoother than the baselines. The videos below are all real time.
Yes, we are committed to open-source research: https://b-spline-policy.github.io
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