Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
From the abstract
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance rather than yield to it. Generative visuomotor policies predict the motion for such tasks but not the authority needed to realize it, and that authority is bounded by the impedance controller beneath them: when the resistance exceeds what a compliant controller can exert under a bounded tracking error, the task is unattainable however accurate the prediction is.
From the abstract. Our summary is in progress.
The full text is not republished here because the paper's license does not allow it. Read the original on arXiv.