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Contact-rich Manipulation

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Showing 1–50 of 61 papers

TitleStatusHype
Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich ManipulationCode3
Point Cloud Matters: Rethinking the Impact of Different Observation Spaces on Robot LearningCode2
Learning Variable Compliance Control From a Few Demonstrations for Bimanual Robot with Haptic Feedback Teleoperation SystemCode1
Accelerating Robot Learning of Contact-Rich Manipulations: A Curriculum Learning StudyCode1
Reinforcement Learning for Contact-Rich Tasks: Robotic Peg Insertion StrategiesCode1
Recovery RL: Safe Reinforcement Learning with Learned Recovery ZonesCode1
Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich TasksCode1
Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich TasksCode1
Compliant Residual DAgger: Improving Real-World Contact-Rich Manipulation with Human Corrections—0
CodeDiffuser: Attention-Enhanced Diffusion Policy via VLM-Generated Code for Instruction Ambiguity—0
A Survey on Imitation Learning for Contact-Rich Tasks in Robotics—0
Touch begins where vision ends: Generalizable policies for contact-rich manipulation—0
ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation—0
PolyTouch: A Robust Multi-Modal Tactile Sensor for Contact-rich Manipulation Using Tactile-Diffusion Policies—0
Modality Selection and Skill Segmentation via Cross-Modality Attention—0
Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations—0
TLA: Tactile-Language-Action Model for Contact-Rich Manipulation—0
Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids—0
Physics-Driven Data Generation for Contact-Rich Manipulation via Trajectory Optimization—0
DexHandDiff: Interaction-aware Diffusion Planning for Adaptive Dexterous Manipulation—0
Is Linear Feedback on Smoothed Dynamics Sufficient for Stabilizing Contact-Rich Plans?—0
MILES: Making Imitation Learning Easy with Self-Supervision—0
Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation—0
Learning Precise, Contact-Rich Manipulation through Uncalibrated Tactile Skins—0
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion—0
AugInsert: Learning Robust Visual-Force Policies via Data Augmentation for Object Assembly Tasks—0
Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis—0
LEMMo-Plan: LLM-Enhanced Learning from Multi-Modal Demonstration for Planning Sequential Contact-Rich Manipulation Tasks—0
Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning—0
RP1M: A Large-Scale Motion Dataset for Piano Playing with Bi-Manual Dexterous Robot Hands—0
ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data—0
Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks—0
TRANSIC: Sim-to-Real Policy Transfer by Learning from Online Correction—0
Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation—0
Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly—0
GenCHiP: Generating Robot Policy Code for High-Precision and Contact-Rich Manipulation Tasks—0
Robot Synesthesia: In-Hand Manipulation with Visuotactile Sensing—0
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation—0
MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation—0
MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation—0
A Virtual Reality Teleoperation Interface for Industrial Robot Manipulators—0
Robot Learning on the Job: Human-in-the-Loop Autonomy and Learning During Deployment—0
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation—0
Augmentation for Learning From Demonstration with Environmental Constraints—0
ROS-PyBullet Interface: A Framework for Reliable Contact Simulation and Human-Robot InteractionCode0
Transferring Knowledge for Reinforcement Learning in Contact-Rich Manipulation—0
Learning Dense Reward with Temporal Variant Self-Supervision—0
A Differentiable Recipe for Learning Visual Non-Prehensile Planar ManipulationCode0
Learning Robotic Manipulation Skills Using an Adaptive Force-Impedance Action Space—0
Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty—0
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