A robot manipulation policy that predicts an impedance-admittance switch ratio alongside virtual targets and stiffness achieves higher success and fewer contact failures in rigid-contact tasks.
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion,
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URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation
A robot manipulation policy that predicts an impedance-admittance switch ratio alongside virtual targets and stiffness achieves higher success and fewer contact failures in rigid-contact tasks.