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

Key points

It separates joint-state information in a fast channel and vision-language information in a slow channel asynchronously, so it can respond in real time without waiting for vision latency.
A latency-adaptive noise schedule ensures smooth behavior regardless of hardware delay.
On a real robot based on GR00T-N1.7, with xArm6 plus XHand, it achieves 25 Hz recomputation, about 4x faster than before.
On contact-rich real-world tasks such as organizing books, inserting boxes, and catching falling objects, it improves success by up to 30%.
It can be applied with only minimal changes to existing VLA architectures, which makes it practical.

External research summaries. These are not HDATF publications or measured product results.