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Trajectory-Level Continuous Action Representation for Robotic Manipulation

arXiv · AI, language, vision and robotics · article · Aug 25, 2026 · UTC

We propose CAT, a trajectory-level continuous action representation framework for robotic manipulation. Existing visuomotor systems often entangle action representation with control frequency or rely on fixed temporal parameterizations. This leads to representational redundancy at high sampling rates and limits the modeling of critical motion. CAT instead encodes action trajectories within a fixed real-time interval into a set of continuous latent tokens. To ensure temporal consistency across varying control frequencies, we further incorporate a frequency-aware positional encoding that establi

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