FocalPolicy: Frequency-Optimized Chunking and Locally Anchored Flow Matching for Coherent Visuomotor Policy
Visuomotor policies aim to learn complex manipulation tasks from expert demonstrations. However, generating smooth and coherent trajectories remains challenging, as it requires balancing proximal precision with distal foresight. Existing approaches typically focus on optimizing intra-chunk action distributions, often neglecting the inter-chunk coherence. Consequently, inter-chunk discontinuities significantly impede the learning of coherent long-horizon actions. To overcome this limitation and achieve a synergetic balance between precision and foresight, we propose FocalPolicy, a foresight-aware visuomotor policy that combines Frequency-Optimized Chunking with Locally Anchored flow matchi...
| Authors | Qian He, Zhenshuo Yang, Wenqi Liang et al. |
|---|---|
| Primary category | cs.RO |
| Published | 15 May 2026 |
| Last updated at source | 20 May 2026 |
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