A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.
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BeyondMimic combines compact motion tracking with a unified guided latent diffusion model to master diverse agile behaviors from human demos and solve unseen downstream tasks via test-time classifier guidance.
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Learning-Guided Force-Feedback Model Predictive Control with Obstacle Avoidance for Robotic Deburring
A framework merges diffusion-based motion priors with force-feedback MPC to enable reliable tool insertion, force tracking, and collision-free circular motions in robotic deburring.
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BeyondMimic: From Motion Tracking to Versatile Humanoid Control via Guided Diffusion
BeyondMimic combines compact motion tracking with a unified guided latent diffusion model to master diverse agile behaviors from human demos and solve unseen downstream tasks via test-time classifier guidance.