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Learning High-Frequency Continuous Action Chunks in Latent Space
Abstract
High-frequency robotic control is improved by using variational autoencoders to enhance temporal and spatial consistency, combined with a reuse-then-refine strategy for smooth real-time execution.
AI-generated summary
Modern robotic policies increasingly rely on action chunking to execute complex tasks in the physical world. While action chunking improves temporal consistency at moderate action frequencies, it becomes insufficient when the action frequency is further increased (e.g., to 60~Hz). At such high frequencies, policies often fail to generate actions that are both temporally smooth and spatially consistent. We address this challenge by shifting high-frequency action learning from the action space to a latent space with variational autoencoder (VAE). This formulation significantly improves both temporal and spatial consistency of high-frequency control. To enable smooth real-time execution, we further introduce Reuse-then-Refine, a chunk-level refine strategy that improves continuity between adjacent action chunks under asynchronous inference. As a result, robots controlled by our policy can execute complex contact-rich tasks continuously, with less pauses and jerky motions. Experiments on three real-world contact-rich robotic tasks show that our approach consistently completes tasks with smooth motions. Our code and data are available at https://github.com/tars-robotics/RTR.
Community
High-frequency robotic control is improved by using variational autoencoders to enhance temporal and spatial consistency, combined with a reuse-then-refine strategy for smooth real-time execution.
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Cite arxiv.org/abs/2605.24931 in a model README.md to link it from this page.
Cite arxiv.org/abs/2605.24931 in a Space README.md to link it from this page.
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