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simmediumvision-robotmetric · varies
Ada3Drift: Adaptive Training-Time Drifting for One-Step 3D Visuomotor Robotic Manipulation
Description
Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods achieve single-step generation, yet sacrifice the ability to preserve distinct action modes, collapsing multimodal behaviors into averaged, often physically infeasible trajectories. We observe that the compute budget asymmetry in robotics (offline training vs.\ rea