# Retiming Robot Demonstrations with a Learned Speed Prior

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/l553t0pniwaloapk10s6sglc6
- Original: https://arxiv.org/abs/2610.32676

## Summary

The study proposes learning a speed prior from large-scale demonstration data: given a task instruction, a motion path, and images along the path, it predicts a distribution of execution speed along the path and uses a selected quantile as a unified clock to retime each demonstration. The method fits the speed prior on robot teleoperation data and on human handheld-gripper demonstrations, retimes robot demonstrations to the handheld pace, and then fine-tunes a vision-language-action policy; at execution, a real-time optimal-control layer tracks the predicted action chunks under robot constraints.