arXiv — cs.AI preprintsInternational2 October 2026
Kinematic MeanFlow: One-Step Action Generation Policy for Robotic Foundation Models
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arXiv:2610.00864v1 Announce Type: cross Abstract: In this paper, we study how to achieve one-step action generation in Robotic Foundation Models (RFMs), aiming to overcome the high inference latency of multi-step flow matching. MeanFlow provides a promising framework for this goal, yet its direct application leads to performance collapse. We discover that this stems from two distinctive dynamics exhibited in the RFM velocity field: (1) the ``local acceleration" exhibits stability early on, but surges sharply towards the end of the denoising process, and (2) the spread of its magnitudes across
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