A Unified Dynamic Force Guidance Framework for Performance-Optimized Kinesthetic Teaching

arXiv:2609.21416 · cs.RO · Submitted 2026-09-18 · Read on arXiv

cs.RO

Submitted: 2026-09-18

Updated: 2026-09-18

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Admittance Control — 16× in this paper · explained in 1 episode
• Accuracy — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Direct Teaching — 3× in this paper
• Minimum Singular Value — 3× in this paper
• Cooperation — 2× in this paper · explained in 2 episodes
• Dynamic Force Guided Teaching — 2× in this paper
• Variable Admittance Teaching — 2× in this paper
• Condition Number — 1× in this paper
• Generalization — 1× in this paper · explained in 13 episodes
• Robustness — 1× in this paper · explained in 5 episodes

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies