Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play

arXiv:2609.22798 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Project page: https://expertplay-contouring.netlify.app

Terminology

• World Model — 22× in this paper · explained in 7 episodes
• Expert-Play Contouring Control — 6× in this paper
• Latent Space — 6× in this paper · explained in 7 episodes
• Imitation Learning — 5× in this paper
• Regularization — 4× in this paper · explained in 3 episodes
• Action Space — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Ablation — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Decode — 1× in this paper · explained in 2 episodes
• Flow Matching — 1× in this paper · explained in 8 episodes
• Imitation Learning (IL) — 1× in this paper · explained in 2 episodes
• Latent Dynamics — 1× in this paper · explained in 2 episodes
• Latent World Models — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

Sources

• Towards a Unified Understanding of Robot Manipulation: A Comprehensive Survey
• DemoSpeedup: Accelerating Visuomotor Policies via Entropy-Guided Demonstration Acceleration
• SkiP: When to Skip and When to Refine for Efficient Robot Manipulation
• Speedup Patch: Learning a Plug-and-Play Policy to Accelerate Embodied Manipulation
• DINO-WM: World Models on Pre-trained Visual Features enable Zero-shot Planning
• LeWorldModel: Stable End-to-End Joint-Embedding Predictive Architecture from Pixels
• TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
• Mastering Diverse Domains through World Models
• MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving