Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
Robust nonlinear control associating robust feedback linearization andH ∞ control.IEEE Transactions on Automatic Control, 51(7):1200–1207
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Tube Diffusion Policy: Reactive Visual-Tactile Policy Learning for Contact-rich Manipulation
Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.