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most citedKeypoint Abstraction using Large Models for Object-Relative Imitation Learning

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cs.RO2026

Beyond the End-Effector: Learning Whole-Arm Contact Manipulation from Human Demonstrations

Bo-Ruei Huang, Daniel Seita, Erdem Bıyık

Robot manipulation has traditionally relied on end-effector-centric interactions. In contrast, humans routinely exploit whole-arm contacts to improve efficiency, robustness, and ad…