Tube Diffusion Policy learns observation-conditioned feedback flows around nominal action chunks to enable fast reactive control in visual-tactile contact-rich manipulation.
Letz k :=V(e tk)denote the tracking error immediately after the diffusion correction at timet k
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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.