Preprint
Oct 2026
FreeSpeed: Training-Free Speed Control for Generative Robot Policies
Online control of execution speed is essential for deploying robot policies in real-world scenarios, as robots may need to speed up under time constraints or slow down to facilitate human interaction and improve safety. However, imitation-learned policies inherit the execution speed of their demonstrations, and test-ti...
Yuxuan Hu, Shilin Shan, Qi-Heng Wang et al.
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