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arXiv · 2602.13718

HybridFlow: A 2-NFE Generative Policy for Real-Time Robotic Manipulation

Zhenchen Dong·Fulin Chen·Jinna Fu·Jiaming Wu·Qingran Wu·Shengyuan Yu·Hongyu Yu·Yide Liu
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Abstract

Generative policies for robotic manipulation must balance action accuracy with inference latency. We present HybridFlow, a three-stage policy inference procedure requiring two network function evaluations (2-NFE). A Global Jump uses the MeanFlow average velocity to generate a coarse action trajectory; a parameter-free ReNoise interpolation constructs a state at a nonzero refinement time; and a Local Refine queries the instantaneous-velocity limit of the same network at that time. This construction reuses a unified model without distillation. Our analysis characterizes interval-composition errors and the attenuation of endpoint error under ReNoise interpolation. Controlled RoboMimic ablations support the MeanFlow proposal and intermediate-state construction, achieving 95% average success with reused noise and 95.5% with fresh noise, versus 78% for one-step MeanFlow. Across five real-robot settings with all policies running on the same Jetson AGX Thor, HybridFlow improves normalized task performance over 16-step Diffusion Policy by 13-68 points with approximately eightfold lower action-generation latency. Additional experiments demonstrate its compatibility as an action expert in a vision-language-action framework. Project page: https://hybridflow-anonymous.pages.dev/

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Zhenchen Dong, Fulin Chen, Jinna Fu, Jiaming Wu, Qingran Wu, Shengyuan Yu, Hongyu Yu, Yide Liu. 2026-09-20. HybridFlow: A 2-NFE Generative Policy for Real-Time Robotic Manipulation. https://arxiv.org/abs/2602.13718

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