DPA-FTG couples a 5 Hz diffusion-based task selector with a 60 Hz force-reactive GRU decoder, improving safe task success over diffusion baselines on bimanual compliant sheet separation.
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A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces
DPA-FTG couples a 5 Hz diffusion-based task selector with a 60 Hz force-reactive GRU decoder, improving safe task success over diffusion baselines on bimanual compliant sheet separation.