Article

EPCC: Faster-than-Demonstration Planning with Slow Expert Demonstrations and Fast Play

The authors propose Expert-Play Contouring Control (EPCC), which combines slow expert demonstrations with fast, non-expert play to achieve execution speeds faster than the demonstrations. Expert demonstrations train a latent trajectory generator whose predictions are reparameterized into a time-independent contour of task progress, while play data trains a world model of fast-action outcomes. At deployment, the planner optimizes actions along this contour and penalizes deviation from it.

Part of the event: EPCC Combines Slow Demonstrations with Fast Trial-and-Error to Achieve Faster-Than-Demonstration Execution

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