非同期推論と制御のための制御考慮型コマンド生成による視覚ベース方策の高速実行
Control-Aware Command Generation for Asynchronous Control and Action Inference with Vision-Based Policies towards Fast Execution
視覚ベースの方策の推論を非同期化し、離散的な予測から連続的な目標位置を追従制御問題として生成することで、ロボットの滑らかな動作を保ちながら高速実行を実現した。予測位置の分散に基づく適応的なアクションスキップも導入し、成功率を維持しつつ大幅な高速化を達成した。
著者: Takayuki Osa, Kazuki Ota
分類: cs.RO
原文アブストラクト
Vision-based control policies, including vision-language-action models, have enabled robots to perform increasingly complex tasks. However, their execution speed is often limited by the high computational cost of action inference. In this work, we investigate what can be achieved at the control level without modifying the underlying policy learning process. We introduce an asynchronous inference and control framework that enables fast task execution while maintaining smooth and stable robot motions. By formulating the generation of continuous target positions from discontinuous model predictions as a tracking control problem, our method makes asynchronous inference practical for real robots. We further accelerate execution through adaptive action skipping based on the variance of predicted positions. Experiments with Action Chunking Transformer and OpenVLA-OFT on a bimanual robot demonstrate substantial speedups while preserving high task success rates.