arxivcs.RO2026-07-01
AutoSpeed: Annotation-Free Stage-Adaptive Motion Speed Learning for Robot Manipulation
Qingda Hu, Ziheng Qiu, Jieru Zhao, Zhongxue Gan, Wenchao Ding
Different stages of manipulation tasks exhibit varying levels of difficulty, suggesting stage-dependent motion speeds and temporal prediction horizons. However, existing IL-based visuomotor policies typically imitate the execution speed of expert demonstrations and operate with a…