RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies

arXiv:2610.09696 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Project page: https://robopace.airoa.io/Abstract

Terminology

• Action Chunking — 4× in this paper · explained in 1 episode
• Adaptation — 4× in this paper · explained in 1 episode
• Fine-Tuning — 2× in this paper · explained in 5 episodes
• Generalization — 2× in this paper · explained in 13 episodes
• Action Flow — 1× in this paper · explained in 1 episode
• Consistency — 1× in this paper · explained in 3 episodes
• In International Conference on Learning Representations — 1× in this paper
• Trace — 1× in this paper · explained in 2 episodes
• Vision-Language-Action (VLA) Models — 1× in this paper · explained in 2 episodes

Sources

• B-spline Policy: Accelerating Manipulation Policies via B-spline Action Representations
• TempoVLA: Learning Speed-Controllable Vision-Language-Action Policies
• TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
• SpeedAug: Policy Acceleration via Tempo-Enriched Policy and RL Fine-Tuning
• PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking

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