Generative Action-Chunk Sampling for Adaptive Stiffness Control in Physical Human-Robot Collaboration

Abstract

Physical human-robot collaboration requires a robot to provide assistance when human intention is clear while remaining compliant when several future motions are plausible. We present an adaptive stiffness framework based on generative action-chunk sampling. Conditioned on an RGB image and external joint-torque estimates, the policy samples multiple latent variables from an observation-conditioned prior and decodes them into future action chunks. Variation among the sampled action chunks is used to continuously adapt joint stiffness and damping. Greater variation makes the robot more compliant to facilitate human guidance, whereas lower variation provides firmer assistance. In a real-world collaborative transport task with four possible directions, the proposed method achieved an average success rate of 0.95, compared with 0.83 for a fixed-stiffness ablation and 0.69 for a deterministic baseline. Near direction determination, variation among the sampled action chunks increased, and the controller reduced stiffness accordingly. These results suggest that variation among actions sampled by a generative policy can serve as an online control signal for balancing assistance and compliance in physical human-robot interaction.

Preprint version