Conditional Trajectory Peaks: Single-Pass Multimodal Policies over Action Chunks

cs.RO

Submitted: 2026-10-05

Updated: 2026-10-05

Comments: 8 pages, 6 figures, 5 tables. Project page: https://embodied.magiclab.top/works/ctp/index.html

Project page: https://embodied.magiclab.top/works/ctp/index.html

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Flow Matching for Generative Modeling
• $\pi_{0.5}$: a Vision-Language-Action Model with Open-World Generalization
• PRISM: Performer RS-IMLE for Single-pass Multisensory Imitation Learning
• Fast Visuomotor Policy for Robotic Manipulation
• Liquid Networks with Mixture Density Heads for Efficient Imitation Learning
• IntentVLA: Short-Horizon Intent Modeling for Aliased Robot Manipulation
• OpenVLA: An Open-Source Vision-Language-Action Model
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Causal World Modeling for Robot Control
• Motus: A Unified Latent Action World Model
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?

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