@article{pacephaseawarechunkexecutionforrobotpoli,
  title = {PACE: Phase-Aware Chunk Execution for Robot Policies with Action Chunking},
  author = {Junnan Nie and Jiayi Li and Jiachen Zhang and Junyi Lao and Chenghao Liu and Tianle Zhang and Songfang Huang},
  year = {2026},
  eprint = {2606.00537},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.00537},
}