arxivcs.RO2026-06-28
Hierarchical Policy Learning via Spectral Decomposition
Shuxin Cao, Liquan Wang, Walker Byrnes, Yiye Chen, Yilun Du, Animesh Garg
In this paper, we identify a semantic decomposition in robot action sequences, separating task-level motion intent from execution-level refinements. By analyzing actions in the spectral domain using the discrete cosine transform (DCT), we observe that low-frequency components cap…