Preprint
Oct 2026
RFPO: Rectified Flow Policy Optimization for Embodied Control
Flow-based policies provide an expressive framework for continuous robot control, but their iterative ODE integration incurs substantial inference cost. Naively reducing the integration budget can severely degrade control, since policies optimized under full-step execution are not explicitly constrained to remain relia...
Ting Huang, Li-Rui Pan, Hao-Yu Wang et al.
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