B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations

Key points

It replaces discrete action chunking with continuous B-spline curves to accelerate execution through temporal rescaling.
Inference-time segment alignment ensures smooth transitions between adjacent B-spline segments, which is essential for high-speed execution.
On Table Cleaning, 4x speed reduces completion time by 50%, from 23.57 seconds to 11.80 seconds, while maintaining success rate at 13 out of 20 versus 14 out of 20.
It integrates as a drop-in replacement for both Diffusion Policy and ACT backbones, requiring minimal pipeline changes.
On PushT simulation, 4x speed improves the score from 0.59 to 0.73 and reduces time from 7.19 seconds to 2.87 seconds.
It automatically allocates control granularity to match task stages, from fast reaching to precise grasping.

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