arxivcs.RO2026-07-31
TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
Jiahao Liu, Kento Kawaharazuka, Tasuku Makabe, Kei Okada
Action chunking shortens the effective decision horizon of robot imitation learning by predicting multiple future actions, while conventional phase conditioning describes the current control instant. When a predicted horizon crosses a procedural boundary, assigning the current ph…