Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal

Researchers introduced the Frequency Guidance Operator, a frequency-based method for diffusion policies in robot control.

It guides noisy action samples through intermediate sub-frequency manifolds, producing smoother trajectories while preserving task-relevant details.

Across 15 manipulation tasks on 5 benchmarks, the approach improved action smoothness, temporal consistency, and overall performance.

The method may help behavior-cloned visuomotor policies avoid overfitting to noisy human motion and become more reliable.