Ada3Drift: Adaptive Training-Time Drifting for One-Step 3D Visuomotor Robotic Manipulation

arXiv:2603.11984 · cs.CV · Submitted 2026-03-12 · Read on arXiv

cs.CV

Submitted: 2026-03-12

Updated: 2026-09-20

Terminology

• Aggregation — 12× in this paper · explained in 1 episode
• Fidelity — 12× in this paper · explained in 2 episodes
• Consistency — 10× in this paper · explained in 3 episodes
• Flow Matching — 10× in this paper · explained in 8 episodes
• Iterative Refinement — 9× in this paper · explained in 3 episodes
• Benchmark — 8× in this paper · explained in 2 episodes
• Diffusion Policy — 7× in this paper
• Transformer — 6× in this paper · explained in 2 episodes
• Action Space — 5× in this paper · explained in 1 episode
• Distillation — 5× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Diffusion Model — 3× in this paper · explained in 8 episodes
• Diffusion Models — 3× in this paper · explained in 6 episodes
• Point Clouds — 3× in this paper · explained in 2 episodes
• Consistency Distillation — 2× in this paper · explained in 2 episodes
• Consistency Policy — 2× in this paper
• Foundation Model — 2× in this paper · explained in 3 episodes
• Generative Modeling — 2× in this paper · explained in 3 episodes
• Regularization — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Action Flow — 1× in this paper · explained in 1 episode
• Actor — 1× in this paper · explained in 3 episodes
• Adaptive Weighting — 1× in this paper · explained in 1 episode
• Adaptivity — 1× in this paper · explained in 1 episode
• Calibration — 1× in this paper · explained in 7 episodes
• Diffusion Policy (DP) — 1× in this paper · explained in 2 episodes
• Distribution Matching — 1× in this paper · explained in 2 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Q-learning — 1× in this paper · explained in 3 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• RT-1: Robotics Transformer for Real-World Control at Scale
• Generative Modeling via Drifting
• Score and Distribution Matching Policy: Advanced Accelerated Visuomotor Policies via Matched Distillation
• ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulation
• One-Step Generative Policies with Q-Learning: A Reformulation of MeanFlow
• VFP: Variational Flow-Matching Policy for Multi-Modal Robot Manipulation

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