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

• URL: http://arxiv.org/abs/2607.09648v1
• Date: Fri, 10 Jul 2026 17:46:32 GMT
• Title: B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
• Abstract summary: B-spline Policy ( BSP) is an action representation designed for accelerating robot manipulation policies.<n> BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points.
• Score: 75.39816527838181
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: In this work, we present B-spline Policy (BSP), an action representation designed for accelerating robot manipulation policies. Rather than predicting discrete-time action chunks, BSP parameterizes actions as continuous B-spline curves defined by a set of knots and control points. This representation yields smooth, time-continuous trajectories that can be temporally scaled and executed by low-level controllers at higher frequencies and speeds. We show that B-spline-parameterized actions can be seamlessly integrated into standard policy learning pipelines by directly predicting B-spline parameters. Experiments on simulated and real-world tasks demonstrate that BSP significantly reduces task completion time, achieving substantial improvements over baseline methods while maintaining strong success rates. More results: https://b-spline-policy.github.io

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