外观
论文arXiv 2610.0969621 天前
RoboPace：面向动作块策略的接触感知时间最优重定时
原文链接：RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies（arXiv 2610.09696 · 发布日期：2026-10-07）
RoboPace: Contact-Aware Time-Optimal Retiming for Action-Chunk Policies
RoboPace面向VLA继承人类时序难迁移问题，在线接触感知重定时动作路径，并在双臂机器人接触任务验证。
核心要点
- 机器人免遥操作示教使VLA策略继承示教者时序，但人类接触速度与机器人执行能力不匹配。
- RoboPace作为在线重定时层，保持策略几何路径，并按目标机器人的运动学和动力学约束调整时序。
- 方法基于预测接触自适应执行速度，同时考虑接触相关速度限制和机器人运动约束，且无需重新训练策略。
- 在双臂机器人的三个接触丰富任务中，RoboPace比慢速匀速执行成功率更高，并使五条指令中四条约用一半时间完成。
验证范围与局限：验证范围为一台双臂机器人上的三个接触丰富任务。
英文摘要 (Abstract)
Robot manipulation data collection has been shifting from teleoperation toward robot-free demonstrations, through interfaces such as the Universal Manipulation Interface (UMI) or directly from human hands. Vision-Language-Action (VLA) policies trained on such data inherit the demonstrator's timing. Yet human timing does not directly transfer to robots: compliant hands tolerate fast contact, whereas robots may overshoot due to actuator and tracking limitations; conversely, robots can move faster in free space. This motivates a unified approach that reconciles execution speed with contact safety. We present RoboPace, an online retiming layer that preserves the policy's geometric path while adapting its timing, respecting the target robot's kinematic and dynamic constraints. It adapts execution speed based on predicted contact, jointly accounting for contact-dependent speed limits and the robot's motion constraints. The method requires no policy retraining and operates in real time. Across three contact-rich tasks on a dual-arm robot, faster uniform execution and physical-limit-only retiming largely fail. RoboPace instead achieves higher overall success than slow uniform execution while completing four of five commands in approximately half the time, retaining the reliability of slow execution without its time cost.
作者：Mimo Shirasaka, Takehiko Ohkawa, Takuya Okubo, Nicola Scianca, Tatsuya Matsushima, Kei Ota
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