نسخة أولية وصول مفتوح
AdaTempo: Learning Shared Relative Tempo from Demonstrations for Faster Robot Manipulation
Visuomotor policies trained via imitation learning often inherit the unnecessarily slow timing of teleoperated demonstrations. Yet uniform speedup is unreliable because different phases of a manipulation task tolerate acceleration differently. In this work, we introduce AdaTempo, a self-supervised method that accelerat …