TRACT: Temporally Routed Action Chunks with Chronological Phase Authority for Contact-Rich Manipulation
TRACT introduces a method for robot control that manages action chunks by separating current phase acceptance from future routing. It uses chronological authority and monotone routing to ensure actions correctly transition between procedural phases, preventing semantic ambiguity during contact-rich manipulation. The system achieves high success rates by incorporating causal execution closure to handle physical stalls caused by unmodeled friction.