SI-Diff uses a force-domain diffusion policy with mode conditioning and a search teacher to handle both misalignment search and precise insertion in one model, raising x-y tolerance from 2 mm to 5 mm.
Particle filtering on lie group for mobile robot localization with range-bearing measurements
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SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy
SI-Diff uses a force-domain diffusion policy with mode conditioning and a search teacher to handle both misalignment search and precise insertion in one model, raising x-y tolerance from 2 mm to 5 mm.