#contact-rich manipulation
6 papers · 1 filter
FA-RDP: A Frequency-Adaptive Reactive Diffusion Policy for Contact-Rich Manipulation
Lifeng Zhuo, Wendi Chen, Han Xue +4
The paper introduces FA-RDP, a diffusion‑based policy that adapts its inference frequency during contact‑rich manipulation, using a multi‑frequency visual‑force transformer and a m…
Representation-Aligned Tactile Grounding for Contact-Rich Robotic Manipulation
Ruilin Chen, Jingkai Jia, Tong Yang +8
The paper proposes a lightweight latent tactile predictor that aligns intermediate action representations with future tactile outcomes, improving contact-rich robotic manipulation…
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
King Hang Wong, Lingqiao Liu, Feras Dayoub
The paper investigates whether explicit joint‑torque signals can replace the implicit force cues present in leader‑follower teleoperation for transformer‑based action‑chunking poli…
Never Too Late for Force: Accelerating VLA Post-Training with Reactive Force Injection
Yi Wang, Wendi Chen, Zimo Wen +8
The paper introduces LIFT, a post‑training method that adds reactive force feedback to pretrained vision‑language‑action policies, enabling them to handle contact‑rich manipulation…
Where to Touch, How to Contact: A Hierarchical RL-MPC Framework for Geometry-Aware Sim-to-Real Manipulation
Zhixian Xie, Yu Xiang, Michael Posa +1
The paper introduces a hierarchical framework that uses a high‑level reinforcement learning policy to choose where a robot should touch an object and a low‑level contact‑implicit m…
Distributionally Robust Control via Stein Variational Inference for Contact-Rich Manipulation
Hrishikesh Sathyanarayan, Victor Vantilborgh, Harish Ravichandar +2
The paper introduces a model‑based manipulation controller that uses Stein variational inference to model task‑sensitive uncertainty, improving robustness in contact‑rich robotic t…