A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.
Manipulability of robotic mechanisms
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COMPASS is a manipulation-aware active sensing framework that raises simulated manipulation success rates by 24.25% over information-gain-only baselines in a new four-level confined-space benchmark.
citing papers explorer
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Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.
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COMPASS: Confined-space Manipulation Planning with Active Sensing Strategy
COMPASS is a manipulation-aware active sensing framework that raises simulated manipulation success rates by 24.25% over information-gain-only baselines in a new four-level confined-space benchmark.