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action tokenization 1behavior cloning 1imitation learning 1motion mode conditioning 1robot manipulation 1

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cs.RO2026

MoMo: Dial Motion Mode in Robot Manipulation with Spatiotemporal Action Tokenization

Yuhan Hu, Hugues Thomas, Peide Huang +3

MoMo is a two-stage imitation‑learning system that uses spatiotemporal action tokenization and a behavior‑cloning transformer to let robots vary their manipulation style (steady, d…