Force Policy learns a global vision policy for free space and a local force-feedback policy that recovers an interaction frame to execute stable hybrid force-position control in contact-rich manipulation.
Learning diffusion policies from demonstrations for compliant contact-rich manipulation
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Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.
citing papers explorer
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Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Force Policy learns a global vision policy for free space and a local force-feedback policy that recovers an interaction frame to execute stable hybrid force-position control in contact-rich manipulation.
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Flow with the Force Field: Learning 3D Compliant Flow Matching Policies from Force and Demonstration-Guided Simulation Data
Framework generates force-informed sim data from one demo to train compliant visuomotor flow matching policies, showing reliable contact on real-robot block flipping and bi-manual tasks.