πR²

πR² enables reactive real-time replanning for robot manipulation flow policies

Researchers introduce πR², a method that makes large action-chunking flow policies reactive and real-time by splitting conditioning into fast proprioception and slow vision-language channels, plus a latency-adaptive denoising schedule. Applied to NVIDIA's GR00T-N1.7 on a real xArm6+XHand platform, it achieves ~25Hz closed-loop replanning (roughly 4× faster than the base policy), acting on fresh observations every 40ms. The approach improves task success rates by up to 23% in simulation and 30% in real-world manipulation over the strongest baseline, requiring only minimal architectural modification and fine-tuning from a pretrained checkpoint.