Kinematic MeanFlow: One-Step Action Generation Policy for Robotic Foundation Models
Kinematic MeanFlow enables one-step robot actions and cuts GR00T-N1.6 action-head latency by up to 74%.
Kinematic MeanFlow (K-MF) enables one-step action generation for robotic foundation models, avoiding the latency of multi-step flow matching. The method splits MeanFlow's time-derivative term at an intermediate point so early and late denoising dynamics are modeled separately, preventing the collapse seen when MeanFlow is applied directly. Across scratch training and fine-tuning, K-MF outperformed multi-step flow matching in most settings and cut GR00T-N1.6 action-head latency by 67.5% to 74.4% on L40 and Jetson Orin, with end-to-end reductions of 30.3% to 54.9%.
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