Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control
日本語版は未提供のため、英語原文で表示しています。
要旨より
While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target positions or poses. Even methods that incorporate force sensing either use it solely as an observation or, when predicting forces as part of the output, rely on a hybrid force controller.
要旨より。当社による要約は作成中です。