Force Policy learns a global vision policy for free space and a local force-feedback policy that recovers an interaction frame to execute stable hybrid force-position control in contact-rich manipulation.
Universal Manipulation Interface: In- The-Wild Robot Teaching Without In-The-Wild Robots
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Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation
Force Policy learns a global vision policy for free space and a local force-feedback policy that recovers an interaction frame to execute stable hybrid force-position control in contact-rich manipulation.