Spline Policy
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Spline Policy: A Structured Representation for Robot Policies
arXiv:2606.07386v1 Announce Type: new Abstract: Modern imitation-learning policies for robot manipulation often represent actions as fixed-resolution action chunks, which are simple and effective but expose limited geometric and temporal structure before execution. This paper studies Spline Policy (SP), a structured representation that replaces action chunks with spline parameters while keeping the policy backbone unchanged. The predicted spline can be decoded as a compact continuous...