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机器人与具身智能领域的最新论文，以及每篇对产业的意义。

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arXiv
Manipulation专业

Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

Johannes Hechtl, Yannik Blei, Simon Ball, Reihaneh Mirjalili, Michael Krawez, Seongjin Bien, Philipp Schmitt, Wolfram Burgard

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.

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论文来自 arXiv 机器人领域。尚未生成摘要的论文，显示摘要开头部分。