arXiv Machine Learning September 16, 2026 By Arnav Sukhija, Lenart Treven, Jin Cheng, Florian D\"orfler, Stelian Coros, Andreas Krause

TARC: Time-Adaptive Robotic Control

Read the original on arXiv Machine Learning →

TARC (Time‑Adaptive Robotic Control) is a reinforcement‑learning framework that lets a policy predict both a control action and how long it should be applied, thereby learning temporally extended actions. By optimizing task performance under constraints on the number of control switches, TARC can adapt its control rate online, using high‑frequency feedback only when necessary. Experiments on a high‑speed RC car, a Unitree Go1 quadruped, and a vision‑language action model show that TARC matches the performance of high‑frequency discrete‑time controllers while operating at less than half their control frequency.

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