[HUGGINGFACE]score: 0.48
FGO Filters High-Frequency Noise from Diffusion-Based Robot Policies
May 26, 2026
Frequency Guidance Operator (FGO) addresses action jitter and noise in diffusion-based visuomotor policies by steering denoising along sub-frequency manifolds, preventing amplification of high-frequency artifacts from human demonstrations during behavior cloning training.
paper
HOW THIS AFFECTS YOU
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builderIf you deploy diffusion-based robot policies trained on human demos, FGO may reduce action jitter without requiring cleaner demonstration data.
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researcherWorth watching for the spectral approach to denoising in diffusion policies, which offers a principled alternative to data filtering or smoothing post-processing.