AI 中文总结
针对接触丰富型操作的时间不匹配问题，提出TRACT方法，通过时序路由动作块与因果响应缺陷积分器提升机器人操作性能，在真实机器人试验中取得了优于基准的任务结果。
AI 中文摘要
动作分块通过预测多个未来动作缩短机器人模仿学习的有效决策时域，而传统的相位条件仅描述当前控制时刻。当预测时域跨越过程边界时，将当前相位分配给整个分块会产生结构性时间不匹配。本文提出TRACT，它将相位结构化动作分块分解为已接受的当前相位以及未来时域内的单个“当前到下一”边界；任务局部图约束时序相位权限，累积边界分布通过特定相位的查询与动作路径单调路由未来查询。对于接触执行，因果响应缺陷积分器将策略意图与符合ACK的后续动作进行比较，在方向响应被抑制时累积机械臂补偿，在确认恢复后衰减。在6种真实机器人变体、每种变体10次试验的设置下，完整TRACT实现了10/10的完整序列成功，中位数[最小值,最大值]擦拭完成率为99.00% [88.75, 100.00]，未观察到相位歧义与停滞。在当前完整方法包与评估设置下，该路由表示比扁平包的任务表现更优（成功率6/10 vs. 3/10，中位数擦拭完成率77.08% vs. 8.03%）；时序权限使相位歧义从8/10降至0/10，响应积分使停滞从4/10降至0/10，包对比未将路由与其他生成器包差异分离。
英文摘要
Action chunking shortens the effective decision horizon of robot imitation learning by predicting multiple future actions, while conventional phase conditioning describes the current control instant. When a predicted horizon crosses a procedural boundary, assigning the current phase to the entire chunk creates a structural temporal mismatch. We present TRACT, which factorizes phase-structured action chunking into an accepted current phase and a single CURRENT-to-NEXT boundary inside the future horizon. A task-local graph constrains chronological phase authority, and a cumulative boundary distribution monotonically routes future queries through phase-specific query and action paths. For contact execution, a causal response-deficit integrator compares policy intent with ACK-eligible subsequent motion, accumulates arm compensation when directional response is suppressed, and decays after confirmed recovery. Across six real-robot variants with ten trials each, full TRACT achieves 10/10 full-sequence success, 99.00 [88.75, 100.00]% median [min, max] wipe completion, zero observed phase ambiguity, and zero stalls. Under the current complete method package and evaluation setting, the routed representation obtains better observed task results than the flat package (6/10 vs. 3/10 success; 77.08% vs. 8.03% median wipe completion). Chronological authority reduces observed phase ambiguity from 8/10 to 0/10, and response integration reduces stalls from 4/10 to 0/10. The package comparison does not isolate routing from other generator-package differences.
Comments6 pages, 3 figures
