TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
TRACT addresses the challenge of action chunking in robot imitation learning by introducing a method that separates current phase authority from future action routing. It uses a task-local graph to constrain phase authority and a cumulative boundary distribution to route future queries through phase-specific paths. The approach improves success rates and reduces phase ambiguity and stalls in contact-rich manipulation tasks.
TRACT introduces a novel approach to action chunking in robot manipulation by structuring temporal phases and routing future actions through phase-specific paths, improving success rates and reducing phase ambiguity in contact-rich tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
full-sequence success
10 trials
View original evidence
ble subsequent motion, accumulates arm compensation when directional response is suppressed, and decays after confirmed recovery. Across six real-robot variants with ten trials each, full TRACT achieves 10/10 full-sequence success, 99.00 [88.75, 100.00]% median [min, max] wipe completion, zero observed phase ambiguity, and zero stalls. Under the current complete method package and evaluation setting, the routed repre
Open source S4success
6
View original evidence
sentation obtains better observed task results than the flat package (6/10 vs. 3/10 success; 77.08% vs. 8.03% median wipe completion). Chronological authority reduces observed phase ambiguity from 8/10 to 0/10, and response integration reduces stalls from 4/10 to 0/10. The package comparison does not isolate routing from other generator-package differences.
Open source S5success
3
View original evidence
sentation obtains better observed task results than the flat package (6/10 vs. 3/10 success; 77.08% vs. 8.03% median wipe completion). Chronological authority reduces observed phase ambiguity from 8/10 to 0/10, and response integration reduces stalls from 4/10 to 0/10. The package comparison does not isolate routing from other generator-package differences.
Open source S5
- paper: not_reported
- code: not_reported
- weights: not_reported
- dataset: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
ble subsequent motion, accumulates arm compensation when directional response is suppressed, and decays after confirmed recovery. Across six real-robot variants with ten trials each, full TRACT achieves 10/10 full-sequence success, 99.00 [88.75, 100.00]% median [min, max] wipe completion, zero observed phase ambiguity, and zero stalls. Under the current complete method package and evaluation setting, the routed repre
Open source S4
sentation obtains better observed task results than the flat package (6/10 vs. 3/10 success; 77.08% vs. 8.03% median wipe completion). Chronological authority reduces observed phase ambiguity from 8/10 to 0/10, and response integration reduces stalls from 4/10 to 0/10. The package comparison does not isolate routing from other generator-package differences.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org