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.
Variable impedance control in end-effector space: An action space for reinforcement learning in contact-rich tasks,
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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.