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Expert-Play Contouring Control: Faster-than-Demonstration Planning from Slow Expert and Fast Play

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Expert demonstrations often specify what a robot should do, but not how fast it can do it. Imitation Learning (IL) inherits demonstration timing, while directly accelerating the learned motion can fail when faster execution changes the robot-object dynamics. We study faster-than-demonstration execution as a dynamics-aware control problem and introduce Expert-Play Contouring Control (EPCC), which combines slow expert demonstrations with fast, non-expert play. Expert demonstrations train a latent trajectory generator whose predictions are reparameterized into a time-independent contour of succes

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