We provide six real-world experiment videos in the appendix, comparing our method (**FreqPolicy**) with the **Diffusion Policy**.

In all comparisons, the Diffusion Policy operates with **10 NFE (Number of Function Evaluations)**, while our **FreqPolicy** also uses **10 NFE**.

Detailed descriptions of each video are as follows:

- **Task1_FlowPolicy_1_NFE**: Result video of Task 1 executed using **FreqPolicy** with 1 NFE.
- **Task1_DiffusionPolicy_10_NFE**: Result video of Task 1 executed using **Diffusion Policy** with 10 NFE.
- **Task2_FlowPolicy_1_NFE**: Result video of Task 2 executed using **FreqPolicy** with 1 NFE.
- **Task2_DiffusionPolicy_10_NFE**: Result video of Task 2 executed using **Diffusion Policy** with 10 NFE.
- **Task3_FlowPolicy_1_NFE**: Result video of Task 3 executed using **FreqPolicy** with 1 NFE.
- **Task3_DiffusionPolicy_10_NFE**: Result video of Task 3 executed using **Diffusion Policy** with 10 NFE.