TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation

arXiv:2607.29285 · cs.RO · Submitted 2026-07-31 · Read on arXiv

cs.RO

Submitted: 2026-07-31

Updated: 2026-10-19

Comments: 6 pages, 3 figures, Accepted for presentation at the 2026 IEEE International Conference on Robotics and Biomimetics (ROBIO 2026)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Action Chunking — 2× in this paper · explained in 2 episodes
• Generator — 1× in this paper · explained in 2 episodes

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