TER-DAgger improves robotic precision insertion success rates by over 37% via residual policies from edited trajectories and force-aware intervention triggers.
Tactile-force alignment in vision-language-action models for force- aware manipulation,
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Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control
TER-DAgger improves robotic precision insertion success rates by over 37% via residual policies from edited trajectories and force-aware intervention triggers.