Generative Action-Chunk Sampling for Adaptive Stiffness Control in Physical Human-Robot Collaboration
cs.RO, cs.AI, cs.LG
Submitted: 2026-08-26
Updated: 2026-09-07
Comments: Preprint version
License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
Terminology
Sources
- Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware
- Occlusion-Aware 3D Hand-Object Pose Estimation with Masked AutoEncoders
- FTACT: Force Torque aware Action Chunking Transformer for Pick-and-Reorient Bottle Task
- FACTR: Force-Attending Curriculum Training for Contact-Rich Policy Learning
- Real-Time Execution of Action Chunking Flow Policies
- OmniVIC: A Self-Improving Variable Impedance Controller with Vision-Language In-Context Learning for Safe Robotic Manipulation
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