Interaction Latents as Actions for Contact-Rich Manipulation
From the abstract
Contact-rich manipulation requires robots to coordinate not only where to move, but also how contact and force should evolve throughout an interaction. Yet most robot policies represent actions primarily as motion trajectories, using tactile signals as inputs or auxiliary prediction targets without explicitly encoding contact dynamics in the action representation.
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.