ESPADA: Execution Speedup via Semantics Aware Demonstration Data Downsampling for Imitation Learning

ArXi:2512.07371v3 Announce Type: replace-cross Behavior-cloning based visuomotor policies enable precise manipulation but often inherit the slow, cautious tempo of human nstrations, limiting practical deployment. However, prior studies on acceleration methods mainly rely on statistical or heuristic cues that ignore task semantics and can fail across diverse manipulation settings.