Robotics paper index

PMosFM: Preconditioned Manifold Matching for One-Step Physics-Constrained Generation

2026-09-30 · arXiv: 2609.40287

One-line summary

A robotics research paper on PMosFM: Preconditioned Manifold Matching for One-Step Physics-Constrained Generation.

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Physics-constrained generative models aim to generate physical fields that match a target distribution and satisfy prescribed constraints. However, enforcing these constraints often increases sampling costs through iterative corrections or training costs through residual optimization and trajectory unrolling. To address this issue, we introduce \textbf{P}reconditioned \textbf{M}anifold \textbf{o}ne-\textbf{s}tep \textbf{F}low \textbf{M}atching (\textbf{PMosFM}), a preconditioned manifold matching framework for one-step physics-constrained generation. By encoding constraints in a manifold decoder, PMosFM learns transport in intrinsic coordinates without separate residual losses or terminal residual unrolling. A geometric preconditioner rescales coordinates using the decoder-induced metric, while a regularized covariance transform approximately whitens the interpolation-state inputs. A finite-interval objective couples velocity supervision with consistency between decoded endpoints in physical space. We show that exact parameterization removes residual-induced Gauss--Newton curvature, that geometric and covariance effects separate in a local conditioning bound, and that physical flow-map error bounds endpoint distributional error. Controlled ablations examine conditioning, and experiments evaluate optimizer-update time and memory footprint. At inference, PMosFM uses one neural transport evaluation followed by physical decoding. Experiments across benchmarks show lower training and sampling time than the multi-step baselines at comparable physical and distributional fidelity. Code and datasets will be released publicly.

5.0Engineering value
7.0Research novelty
4.0Business relevance

Links and sources

Need this topic turned into a technical roadmap?

Robot Papers can prepare a custom robotics literature review, code map, dataset map, and B2B technology assessment.

Request B2B research

Comments

No comments yet. Be the first to share your thoughts on this paper.
Login or register to leave a comment