# 模仿学习能否保持灵巧操作的时间鲁棒性？专家与学习者在不同任务执行速度下的对比

- 来源：HuggingFace Daily Papers（社区热门论文）
- 发布时间：2026-09-01 08:00
- AIHOT 分数：43
- AIHOT 链接：https://aihot.virxact.com/items/cmtkqaer50228roaljgxyqzd6
- 原文链接：https://arxiv.org/abs/2609.01453

## AI 摘要

论文在 ParcelStow 接触密集任务中对比脚本专家与基于 ACT 训练的模仿策略在不同加速倍数下的表现，发现两者在名义速度下均为 100% 成功，但在最大演示速度下专家成功率为 84%，ACT 仅 53%，且两种不同参数初始化的 ACT 策略分别下降 34 和 48 个百分点，专家仅下降 16 个百分点。

## 正文

Dexterous manipulation policies learned by imitation are typically evaluated for robustness to variation in scenes, objects, or instructions, but their performance across task execution speeds is less often examined. This leaves open how much temporal robustness a learner retains relative to the expert it imitates. We compare an expert and learner under the same task conditions, initial-condition draws, and speedup factors. We instantiate the evaluation in ParcelStow, a contact-rich task in which the robot acquires, reorients, and inserts a parcel. The demonstrations span the speedup range for the manipulation phases after parcel acquisition. A scripted expert and an Action Chunking with Transformers (ACT) policy trained from the expert's demonstrations both achieve 100 percent task success at nominal speed. Their success rates diverge within the demonstrated range: at its maximum, expert success is 84 percent and ACT success is 53 percent. Two ACT policies with different parameter initializations show similar degradation, decreasing by 34 and 48 percentage points from nominal speed to the maximum demonstrated speed, compared with 16 points for the expert. Stage-level analysis shows that 35 of ACT's 47 failures at the maximum demonstrated speed are insertion misalignments. Under the relative-motion handoff, every ACT acquisition retains the parcel through reorientation and transfer in free space, but only 64 percent complete the overall task, compared with 95 percent after expert acquisition. Across all evaluated policies and speeds, none of the 414 acquisitions without force closure completes the task. Equal nominal task success therefore does not imply preservation of expert performance across execution speeds. Code, data, and evaluation scripts are available at https://github.com/coenwerem/parcelstow.