NEXT estimates external torques from short free-motion data without hardware sensors and FIRST improves imitation learning by upsampling contact phases, yielding over 17% better task progress on long-horizon manipulation tasks.
In: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)
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FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
NEXT estimates external torques from short free-motion data without hardware sensors and FIRST improves imitation learning by upsampling contact phases, yielding over 17% better task progress on long-horizon manipulation tasks.
- Bimanual Robot Manipulation via Multi-Agent In-Context Learning