Unified Condition-Action Modeling for Accurate One-Step Action Generation
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来源：arXiv cs.RO发布时间待核实
arXiv:2608.16153v3 Announce Type: replace Abstract: Robot manipulation requires policies that are both accurate and efficient, as robot control must respond to changing observations under tight latency constraints. Recent diffusion and flow policies are promising, but they often treat conditions as auxiliary signals rather than jointly evolving them with action trajectories.