FocalPolicy: Frequency-Optimized Chunking and Locally Anchored Flow Matching for Coherent Visuomotor Policy

ArXi:2605.15944v1 Announce Type: cross Visuomotor policies aim to learn complex manipulation tasks from expert nstrations. However, generating smooth and coherent trajectories remains challenging, as it requires balancing proximal precision with distal foresight. Existing approaches typically focus on optimizing intra-chunk action distributions, often neglecting the inter-chunk coherence. Consequently, inter-chunk discontinuities significantly impede the learning of coherent long-horizon actions.