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About this paper
Takayuki Osa, Kazuki Ota
The authors introduce a method for running robot inference and control concurrently while producing commands. CAC converts a policy’s desired positions into commands that track them while clipping acceleration, and adaptive skipping uses prediction agreement. On ACT pen storage, the system achieved 83.3% success and 34.4±0.8 seconds, versus 30.0% and 52.6±0.9 seconds for synchronous ACT, in this tested setup.
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