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

Terminology

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

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
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies