Contact-Grounded Policy predicts coupled robot-state and tactile trajectories with a diffusion model and maps them via a learned consistency function to executable targets for compliance controllers, outperforming standard visuotactile diffusion baselines on physical and simulated dexterous tasks.
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Contact-Grounded Policy: Dexterous Visuotactile Policy with Generative Contact Grounding
Contact-Grounded Policy predicts coupled robot-state and tactile trajectories with a diffusion model and maps them via a learned consistency function to executable targets for compliance controllers, outperforming standard visuotactile diffusion baselines on physical and simulated dexterous tasks.