Does Imitation Learning Preserve Temporal Robustness in Dexterous Manipulation? An Expert-Learner Comparison Across Task Execution Speeds
Research
Source: arXiv cs.ROPublish time unverified
arXiv:2609.01453v1 Announce Type: new Abstract: 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.