$π\mathbf{R}^2$: Reactive Real-time Flow Policies

Generalist manipulation policies increasingly take the form of action-chunking flow policies built on large pretrained backbones.

Generalist manipulation policies increasingly take the form of action-chunking flow policies built on large pretrained backbones. Such chunks run open-loop, so the policy cannot react to sensory input arriving mid-execution, sacrificing \emph{reactivity}. Replanning more often…