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.
Gr00t n1: An open foundation model for generalist humanoid robots,
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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.