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Contact-rich Manipulation
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CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics
Touch begins where vision ends: Generalizable policies for contact-rich manipulation
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies
Modality Selection and Skill Segmentation via Cross-Modality Attention
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations
TLA: Tactile-Language-Action Model for Contact-Rich Manipulation
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids
DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
MILES: Making Imitation Learning Easy with Self-Supervision
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks
Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation System
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction
Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks
Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot Learning
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation
MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators
출처: Papers with Code · CC BY-SA 4.0. 아카이브 자료와 새로 수집한 논문은 별도로 관리합니다.