SkiP: When to Skip and When to Refine for Efficient Robot Manipulation

Previous imitation learning policies predict future actions at every control step, whether in smooth motion phases or precise, contact-rich operation phases. This uniform treatment is wasteful: most steps in a manipulation trajectory traverse free space and carry little task-relevant information, while a small fraction of \emph{key} steps around contacts, grasps, and alignment demand dense, high-resolution prediction. We propose a novel \emph{action relabeling} mechanism: at each timestep in a skip segment, we replace the behavior cloning target with the action at the entrance of the next key segment, enabling the policy to leap over redundant steps in a single decision. The resulting \textbf{Skip Policy (SkiP)} dynamically leaps over skip segments and intensively refines actions in key segments, within a single unified network requiring no learned skip planner or hierarchical structure. To automatically partition demonstrations into key and skip segments without manual annotation, we introduce \emph{Motion Spectrum Keying} (MSK), a fast, task-agnostic procedure that detects local motion complexity from action signals. Extensive experiments across 72 simulated manipulation tasks and three real-robot tasks show that SkiP reduces executed steps by $15$--$40\%$ while matching or improving success rates across various policy backbones.