# Kinematic MeanFlow: One-Step Action Generation Policy for Robotic Foundation Models > Source: > Published: 2026-10-07 15:30:19+00:00 In this paper, we study how to achieve one-step action generation in Robotic Foundation Models (RFMs), aiming to overcome the high inference latency of multi-step flow matching. MeanFlow provides a promising framework for this goal, yet its direct application leads to performance collapse. We discov