{"id":"https://openalex.org/W7165355953","doi":"https://doi.org/10.48550/arxiv.2606.20135","title":"Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation","display_name":"Frequency-Aware Flow Matching for Continuous and Consistent Robotic Action Generation","publication_year":2026,"publication_date":"2026-06-18","ids":{"openalex":"https://openalex.org/W7165355953","doi":"https://doi.org/10.48550/arxiv.2606.20135"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.20135","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20135","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.20135","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5139020791","display_name":"Jianing Guo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guo, Jianing","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071942112","display_name":"F Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Fangzheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139013703","display_name":"Zihao Mao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mao, Zihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138999072","display_name":"Wong Lik Hang Kenny","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kenny, Wong Lik Hang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138976193","display_name":"Zhenhong Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Zhenhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139010841","display_name":"Yu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Yu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089424740","display_name":"Yishuai Cai","orcid":"https://orcid.org/0000-0001-7471-7301"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Cai, Yishuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139017604","display_name":"Yuanpei Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuanpei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139003509","display_name":"Yikun Ban","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ban, Yikun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138996756","display_name":"Kai Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Kai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138977938","display_name":"Qi Dou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dou, Qi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138977321","display_name":"Yaodong Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yaodong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5138981082","display_name":"Xianglong Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Xianglong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100298054","display_name":"Huijie Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Huijie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139004542","display_name":"Simin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Simin","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":0.5906000137329102,"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":0.5906000137329102,"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/T12290","display_name":"Human Motion and Animation","score":0.1476999968290329,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.05990000069141388,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.5414000153541565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5153999924659729},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5085999965667725},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4700999855995178},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4106999933719635},{"id":"https://openalex.org/keywords/flow","display_name":"Flow (mathematics)","score":0.3750999867916107},{"id":"https://openalex.org/keywords/frequency-domain","display_name":"Frequency domain","score":0.35659998655319214},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.35269999504089355},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.34450000524520874}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6399999856948853},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.5414000153541565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5153999924659729},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5085999965667725},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4700999855995178},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4106999933719635},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.3750999867916107},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3711000084877014},{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.35659998655319214},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.35269999504089355},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.34450000524520874},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3443000018596649},{"id":"https://openalex.org/C2221639","wikidata":"https://www.wikidata.org/wiki/Q2877","display_name":"Discrete cosine transform","level":3,"score":0.34139999747276306},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.32829999923706055},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3165000081062317},{"id":"https://openalex.org/C178009071","wikidata":"https://www.wikidata.org/wiki/Q93344","display_name":"Trigonometric functions","level":2,"score":0.2921999990940094},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.2919999957084656},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.28870001435279846},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.2840999960899353},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.27709999680519104},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2745000123977661},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.2669999897480011},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.26570001244544983},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25540000200271606},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.20135","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20135","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":"doi:10.48550/arxiv.2606.20135","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.20135","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":false,"raw_source_name":null,"raw_type":"Preprint"},"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":{"Flow":[0,63],"matching":[1,94],"has":[2],"emerged":[3],"as":[4],"a":[5,125,189],"standard":[6],"paradigm":[7],"for":[8,17],"robotic":[9],"manipulation":[10],"owing":[11],"to":[12,40,49,118,124,148,176],"its":[13],"strong":[14],"expressive":[15],"power":[16],"modelling":[18],"complex,":[19],"multimodal":[20,169],"action":[21,35,80,135,154],"distributions,":[22],"alongside":[23],"similar":[24],"approaches":[25],"like":[26],"diffusion":[27],"policy.":[28],"However,":[29],"existing":[30],"methods":[31],"rely":[32],"on":[33,188],"discretized":[34],"chunks,":[36],"making":[37],"them":[38],"brittle":[39],"demonstrations":[41],"collected":[42],"at":[43,195],"heterogeneous":[44,74],"control":[45,55],"frequencies":[46],"and":[47,99,132,146,152,163,179],"prone":[48],"temporally":[50,69,109],"inconsistent":[51],"actions":[52,102],"that":[53,128],"degrade":[54],"stability.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60,77,112],"propose":[61],"Frequency-Aware":[62],"Matching":[64],"(FAFM),":[65],"which":[66],"outputs":[67],"continuous,":[68],"consistent":[70,110,185],"actions.":[71,121],"To":[72,107],"handle":[73],"frequency":[75,84],"input,":[76],"transform":[78,90],"discrete":[79,88],"sequences":[81],"into":[82],"the":[83,87,96,114],"domain":[85],"with":[86],"cosine":[89,104],"(DCT),":[91],"perform":[92],"flow":[93],"over":[95],"resulting":[97],"coefficients,":[98],"reconstruct":[100],"continuous":[101],"via":[103],"basis":[105],"expansion.":[106],"generate":[108],"actions,":[111],"regularize":[113],"first-order":[115],"temporal":[116],"derivative":[117],"promote":[119],"smooth":[120],"This":[122],"corresponds":[123],"Sobolev-type":[126],"constraint":[127],"suppresses":[129],"high-frequency":[130],"errors":[131],"discourages":[133],"abrupt":[134],"changes.":[136],"Our":[137],"FAFM":[138,165],"is":[139],"simple,":[140],"introduces":[141],"no":[142],"additional":[143],"network":[144],"parameters":[145],"applies":[147],"standalone":[149],"flow-matching":[150],"policies":[151],"vision-language":[153],"models.":[155],"Across":[156],"synthetic":[157],"toy":[158],"benchmark,":[159],"obstacle":[160],"avoidance,":[161],"LapGym,":[162],"LIBERO,":[164],"improves":[166],"success":[167],"rates,":[168],"expressivity,":[170],"motion":[171],"smoothness,":[172],"convergence":[173],"speed,":[174],"robustness":[175],"mechanical":[177],"bias":[178],"mixed-frequency":[180],"input.":[181],"These":[182],"gains":[183],"are":[184],"when":[186],"deployed":[187],"real-world":[190],"Franka":[191],"robot.":[192],"Code":[193],"available":[194],"https://anonymous.4open.science/r/FAFM.":[196]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-20T00:00:00"}
