A closed-loop force-torque feedback extension of few-shot imitation learning lets a robot adapt its wiping force to unseen surface heights and sponge properties, reaching 96% of reference force in real-world tests.
Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints,
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Adaptive Wiping: Adaptive contact-rich manipulation through few-shot imitation learning with Force-Torque feedback and pre-trained object representations
A closed-loop force-torque feedback extension of few-shot imitation learning lets a robot adapt its wiping force to unseen surface heights and sponge properties, reaching 96% of reference force in real-world tests.