# Imitation Learning Policy based on Multi-Step Consistent Integration Shortcut Model

arXiv: https://arxiv.org/abs/2510.19356 · HTML: https://mlsanity.com/paper/2510.19356/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models.
- Builds on 20 of its 30 references that are in the map.
- First posted on arXiv 22 Oct 2025.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)
- Offline RL and imitation learning from data / [Robot manipulation imitation learning](https://mlsanity.com/offlinerl/robot-manipulation-imitation-learning/)

## Builds on (most cited first, 20 of 20)

- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Elucidating the Design Space of Diffusion-Based Generative Models](https://mlsanity.com/paper/2206.00364/) (2022)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Steps](https://mlsanity.com/paper/2206.00927/) (2022)
- [Gradient Surgery for Multi-Task Learning](https://mlsanity.com/paper/2001.06782/) (2020)
- [Visualizing the Loss Landscape of Neural Nets](https://mlsanity.com/paper/1712.09913/) (2017)
- [One-step Diffusion with Distribution Matching Distillation](https://mlsanity.com/paper/2311.18828/) (2023)
- [Adversarial Diffusion Distillation](https://mlsanity.com/paper/2311.17042/) (2023)
- [Mean Flows for One-step Generative Modeling](https://mlsanity.com/paper/2505.13447/) (2025)
- [End-to-End Multi-Task Learning with Attention](https://mlsanity.com/paper/1803.10704/) (2018)
- [One Step Diffusion via Shortcut Models](https://mlsanity.com/paper/2410.12557/) (2024)
- [Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learning](https://mlsanity.com/paper/1910.11956/) (2019)
- [Consistency Policy: Accelerated Visuomotor Policies via Consistency Distillation](https://mlsanity.com/paper/2405.07503/) (2024)
- [RoboTwin: Dual-Arm Robot Benchmark with Generative Digital Twins (early version)](https://mlsanity.com/paper/2409.02920/) (2024)
- [Riemannian Flow Matching Policy for Robot Motion Learning](https://mlsanity.com/paper/2403.10672/) (2024)
- [Compressed Image Generation with Denoising Diffusion Codebook Models](https://mlsanity.com/paper/2502.01189/) (2025)
- [High-Order Matching for One-Step Shortcut Diffusion Models](https://mlsanity.com/paper/2502.00688/) (2025)
- [Boosting Action-Information via a Variational Bottleneck on Unlabelled Robot Videos](https://mlsanity.com/paper/2508.08743/) (2025)

## Built on by (most cited first, 1 of 1)

- [High-Fidelity One-Step Generative Visuomotor Policy via Recursive Correction, Frequency Consistency, and Contrastive Flow Matching](https://mlsanity.com/paper/2607.03865/) (2026)

## Abstract (arXiv)

The wide application of flow-matching methods has greatly promoted the development of robot imitation learning. However, these methods all face the problem of high inference time. To address this issue, researchers have proposed distillation methods and consistency methods, but the performance of these methods still struggles to compete with that of the original diffusion models and flow-matching models. In this article, we propose a one-step shortcut method with multi-step integration for robot imitation learning. To balance the inference speed and performance, we extend the multi-step consistency loss on the basis of the shortcut model, split the one-step loss into multi-step losses, and improve the performance of one-step inference. Secondly, to solve the problem of unstable optimization of the multi-step loss and the original flow-matching loss, we propose an adaptive gradient allocation method to enhance the stability of the learning process. Finally, we evaluate the proposed method in two simulation benchmarks and five real-world environment tasks. The experimental results verify the effectiveness of the proposed algorithm.