High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching

Yuran Chen, Xinye Cai, Zhonglin Gong +1

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 so…