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cs.RO2026
ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks
Chengyi Xing, Shaoxiong Yao, Diego Romeres +1
High-precision connector insertion remains challenging for robotic systems due to tight mechanical tolerances, partial observability during contact, and multimodal uncertainty aris…
cs.RO2026
PPGuide: Steering Diffusion Policies with Performance Predictive Guidance
Zixing Wang, Devesh K. Jha, Ahmed H. Qureshi +1
Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound o…