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contact rich manipulation

done top 8 · 8 papers

  1. 100 relevance
    ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
    Jinxuan Zhu, Zihao Yan, Yangyu Xiao, Jingxiang Guo, Chenrui Tie, Xinyi Cao, Yuhang Zheng, Lin Shao
    The paper explicitly focuses on enabling contact-rich manipulation through a low-cost soft robotic wrist and evaluates it across diverse contact-rich tasks.
    Graphic Abstract PDF
  2. 100 relevance
    Planning-Guided Diffusion Policy Learning for Contact-Rich Bimanual Object Reorientation
    Xuanlin Li, Tong Zhao, Bo Ai, Xinghao Zhu, Jiuguang Wang, Tao Pang, Kuan Fang
    The paper explicitly focuses on contact-rich bimanual manipulation and proposes a specific method to solve these tasks.
    Graphic Abstract PDF
  3. 100 relevance
    HapCompass: A Rotational Haptic Device for Contact-Rich Robotic Teleoperation
    Xiangshan Tan, Jingtian Ji, Tianchong Jiang, Pedro Lopes, Matthew Walter
    The paper explicitly focuses on enhancing contact-rich robotic teleoperation through a novel haptic device and evaluates it on specific contact-rich tasks like key and USB insertion.
    Graphic Abstract PDF
  4. 100 relevance
    PoCoDP3: Pose- and Contact-Aware Visual-Tactile Policy for Contact-Rich 3D Manipulation
    Zhaokun Yue, Ling Tong, Kun Qian
    The paper is directly focused on contact-rich manipulation, proposing a specific visual-tactile policy to address the challenges of such tasks.
    Graphic Abstract PDF
  5. 100 relevance
    Audio-VLA: Adding Contact Audio Perception to Vision-Language-Action Model for Robotic Manipulation
    Xiangyi Wei, Haotian Zhang, Xinyi Cao, Siyu Xie, Weifeng Ge, Yang Li, Changbo Wang
    The paper explicitly focuses on enhancing contact-rich manipulation by integrating acoustic feedback into a Vision-Language-Action model.
    Graphic Abstract PDF
  6. 100 relevance
    ManipForce: Force-Guided Policy Learning with Frequency-Aware Representation for Contact-Rich Manipulation
    Geonhyup Lee, Youngjin Lee, Kangmin Kim, Seongju Lee, Sangjun Noh, Seunghyeok Back, Kyoobin Lee
    The paper explicitly focuses on contact-rich manipulation, proposing a specialized hardware system and a multimodal transformer policy specifically designed for these tasks.
    Graphic Abstract PDF
  7. 100 relevance
    Tactile Memory for Continuous Policy Blending in Unified Force-Impedance Control
    Robin Jeanne Kirschner,, Hamid Sadeghian, and Sami Haddadin
    The paper explicitly focuses on automating contact-rich industrial manipulation processes like insertion and plugging using unified force-impedance control and tactile memory.
    Graphic Abstract PDF
  8. 95 relevance
    Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration
    Ce Guo, Xieyuanli Chen, Zhiwen Zeng, Zirui Guo, YiHong Li, Haoran Xiao, Dewen Hu, Huimin Lu
    The paper focuses on multi-fingered grasping using tactile and kinesthetic perceptions, which are central components of contact-rich manipulation.
    Graphic Abstract PDF