TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for接触富
Overview
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.
From arXiv Robotics — research abstracts
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · full-sequence success: 10 other · Basis not reported
“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”
Exact source · revision 1Source owner not reported
Reported quantity · success: 6 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Reported quantity · success: 3 other · Basis not reported · Differing source assertions
“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.”
Exact source · revision 1Source owner not reported
Evidence dependency changes (2)
- 2026-10-30T22:16:24.354Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
- 2026-10-30T22:16:15.292Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalTRACT: 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.
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