**Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal**

> Learning visuomotor policies via behavior cloning typically involves mimicking expert demonstrations collected by human operators. However, natural human demonstrations inherently contain high-frequency noise, such as intermittent jerks, pauses, and action jitter. Training policies to directly imitate these raw trajectories inevitably causes the model to inherit these suboptimal behaviors. This pathology is particula...

**来源信息**
- **来源**：HuggingFace Daily Papers（社区热门论文）
- **分类**：ai-models
- **发布时间**：2026-06-01 08:00（北京时间）
- **原文**：[打开原文](https://huggingface.co/papers/2605.27919)