A frozen LSTM backbone with FiLM-based few-shot context adaptation estimates tip-level contact forces for deformable swabbing tools across nine surface-tool regimes using only wrist-mounted proprioception.
Model-based vari- able impedance learning control for robotic manipulation,
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Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation
A frozen LSTM backbone with FiLM-based few-shot context adaptation estimates tip-level contact forces for deformable swabbing tools across nine surface-tool regimes using only wrist-mounted proprioception.