发表机构
Magiclab Robotics Technology Co., Ltd.; Southeast University（魔幻实验室机器人科技有限公司; 东南大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对生成式机器人策略异步重规划中的模式切换问题，提出执行对齐渐进噪声（EAPN），通过跨块与块内结构化随机性及执行对齐相关性，提升行为一致性，在Kinetix、LIBERO及真实任务上取得高成功率。
AI 中文摘要
连续异步重规划对于实时生成式机器人策略至关重要，但独立的随机初始化可能导致模式切换和跨动作块的不一致延续。我们提出执行对齐渐进噪声（EAPN），在块间和块内两个层面引入结构化随机性。在重规划步骤间，EAPN传播共享噪声轨迹并将其与实际执行位移对齐，建立执行对齐的块间相关性。在每个动作块内，它沿动作时间建模时间相关性。对齐的随机历史进一步与已承诺的动作上下文结合，以条件化后续生成，使新块能够从执行一致的生成状态继续，而非从独立噪声重新开始。我们在D3IL、Kinetix、LIBERO及真实世界操作任务上评估EAPN。EAPN在D3IL上提升多模态行为一致性，并在Kinetix上达到88.59%的平均成功率。在LIBERO上，即使在长推理延迟下，它仍保持鲁棒性并维持强任务性能。真实机器人实验进一步在物体存储任务上达到90.0%的成功率，在双臂布料折叠任务上达到96.7%，展示了在异步重规划下可靠的连续执行。
英文摘要
Continuous asynchronous replanning is essential for real-time generative robot policies, but independent stochastic initialization can cause mode switching and inconsistent continuation across action chunks. We propose Execution-Aligned Progressive Noise (EAPN), which introduces structured stochasticity at both inter-chunk and intra-chunk levels. Across replanning steps, EAPN propagates a shared noise trajectory and aligns it with the actual execution displacement, establishing execution-aligned inter-chunk correlation. Within each action chunk, it models temporal correlation along action time. The aligned stochastic history is further combined with committed action context to condition subsequent generation, allowing new chunks to continue from execution-consistent generative states rather than restart from independent noise. We evaluate EAPN on D3IL, Kinetix, LIBERO, and real-world manipulation tasks. EAPN improves multimodal behavior consistency on D3IL and achieves an average success rate of 88.59% on Kinetix. On LIBERO, it remains robust and maintains strong task performance even under long inference delays. Real-robot experiments further achieve 90.0% success on Object Storage and 96.7% on bimanual Cloth Folding, demonstrating reliable continuous execution under asynchronous replanning.
Comments8 pages, 7 figures, 5 tables. Project page: https://embodied.magiclab.top/works/eapn/index.html
