{"id":"https://openalex.org/W7133198160","doi":"https://doi.org/10.48550/arxiv.2602.23901","title":"ABPolicy: Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulation","display_name":"ABPolicy: Asynchronous B-Spline Flow Policy for Real-Time and Smooth Robotic Manipulation","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7133198160","doi":"https://doi.org/10.48550/arxiv.2602.23901"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2602.23901","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127803508","display_name":"Fan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Fan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127871475","display_name":"Peiguang Jing","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jing, Peiguang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127827654","display_name":"Kaihua Qu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qu, Kaihua","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127859736","display_name":"Ningyuan Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Ningyuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5127842989","display_name":"Yuting Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Su, Yuting","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7598999738693237,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.7598999738693237,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.17980000376701355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.006599999964237213,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/asynchronous-communication","display_name":"Asynchronous communication","score":0.6769999861717224},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.6625000238418579},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6065000295639038},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5842000246047974},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5828999876976013},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44040000438690186},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3935999870300293},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.38830000162124634}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7526999711990356},{"id":"https://openalex.org/C151319957","wikidata":"https://www.wikidata.org/wiki/Q752739","display_name":"Asynchronous communication","level":2,"score":0.6769999861717224},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.6625000238418579},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6065000295639038},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5842000246047974},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5828999876976013},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48829999566078186},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44040000438690186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4390000104904175},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3935999870300293},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38830000162124634},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.37130001187324524},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.31949999928474426},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31200000643730164},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2797999978065491},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2732999920845032},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.27160000801086426},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2689000070095062},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2660999894142151},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.2603999972343445},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.25870001316070557}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2602.23901","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2602.23901","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.23901","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2602.23901","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1],"requires":[2],"policies":[3],"that":[4,50,108],"are":[5],"smooth":[6],"and":[7,28,37,99,117],"responsive":[8],"to":[9,40,75,114],"evolving":[10],"observations.":[11],"However,":[12],"synchronous":[13],"inference":[14],"in":[15,52],"the":[16,59],"raw":[17],"action":[18,56,69],"space":[19],"introduces":[20],"several":[21],"challenges,":[22],"including":[23],"intra-chunk":[24,63],"jitter,":[25],"inter-chunk":[26,77],"discontinuities,":[27],"stop-and-go":[29],"execution.":[30],"These":[31],"issues":[32],"undermine":[33],"a":[34,53],"policy's":[35],"smoothness":[36],"its":[38],"responsiveness":[39],"environmental":[41],"changes.":[42],"We":[43,89],"propose":[44],"ABPolicy,":[45],"an":[46],"asynchronous":[47,82],"flow-matching":[48],"policy":[49],"operates":[51],"B-spline":[54,60],"control-point":[55],"space.":[57],"First,":[58],"representation":[61],"ensures":[62],"smoothness.":[64],"Second,":[65],"we":[66],"introduce":[67],"bidirectional":[68],"prediction":[70],"coupled":[71],"with":[72,102],"refitting":[73],"optimization":[74],"enforce":[76],"continuity.":[78],"Finally,":[79],"by":[80],"leveraging":[81],"inference,":[83],"ABPolicy":[84,91,109],"delivers":[85],"real-time,":[86],"continuous":[87],"updates.":[88],"evaluate":[90],"across":[92],"seven":[93],"tasks":[94],"encompassing":[95],"both":[96],"static":[97],"settings":[98,101],"dynamic":[100],"moving":[103],"objects.":[104],"Empirical":[105],"results":[106],"indicate":[107],"reduces":[110],"trajectory":[111],"jerk,":[112],"leading":[113],"smoother":[115],"motion":[116],"improved":[118],"performance.":[119],"Project":[120],"website:":[121],"https://teee000.github.io/ABPolicy/.":[122]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-03T00:00:00"}
