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Contact-rich tasks present significant challenges for robotic manipulation policies due to the complex dynamics of contact and the need for precise control.
“Robust Execution of Contact-Rich Motion Plans by Hybrid Force-Velocity Control”
Yifan Hou and Matthew Mason · 1939
Earlier work this paper cites.
“Compliance and Force Control for Computer Controlled Manipulators”
Matthew Mason · 1981
Earlier work this paper cites.
“Hybrid Position/Force Control of Manipulators”
MH Raibert and JJ Craig · 1981
Earlier work this paper cites.
“Impedance Control: An Approach to Manipulation”
Neville Hogan · 1985
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“Historical Perspective and State of the Art in Robot Force Control”
Daniel. Whitney · 1985
Earlier work this paper cites.
“Learning Force Control Policies for Compliant Manipulation”
Mrinal Kalakrishnan, Ludovic Righetti, Peter Pastor and Stefan Schaal · 2011
Earlier work this paper cites.
“Learning contact-rich manipulation skills with guided policy search”
Sergey Levine, Nolan Wagener and Pieter Abbeel · 2015
Earlier work this paper cites.
“Control of Generalized Contact Motion and Force in Physical Human-Robot Interaction”
Emanuele Magrini, Fabrizio Flacco and Alessandro De · 2015
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“Deep Residual Learning for Image Recognition”
Kaiming He, Xiangyu Zhang, Shaoqing Ren and Jian Sun · 2016
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“Attention is All you Need”
Ashish Vaswani et al · 2017
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“GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force”
Wenzhen Yuan, Siyuan Dong and Edward. Adelson · 2017
Earlier work this paper cites.
“A New Silicone Structure for uSkin - A Soft, Distributed, Digital 3-Axis Skin Sensor and Its Integration on the Humanoid Robot iCub”
Tito Tomo et al · 2018
Earlier work this paper cites.
“4D Spatio-Temporal ConvNets: Minkowski Convolutional Neural Networks”
Christopher Choy, JunYoung Gwak and Silvio Savarese · 2019
Earlier work this paper cites.
“Tactile-based Insertion for Dense Box-Packing”
Siyuan Dong and Alberto Rodriguez · 2019
Earlier work this paper cites.
“Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks”
Michelle. Lee et al · 2019
Earlier work this paper cites.
“Learning Force Control for Contact-Rich Manipulation Tasks With Rigid Position-Controlled Robots”
Cristian Beltran-Hernandez et al · 2020
Earlier work this paper cites.
“Denoising Diffusion Probabilistic Models”
Jonathan Ho, Ajay Jain and Pieter Abbeel · 2020
Earlier work this paper cites.
“DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation”
Mike Lambeta et al · 2020
Earlier work this paper cites.
“Transporter Networks: Rearranging the Visual World for Robotic Manipulation”
Andy Zeng et al · 2020
Cited alongside, same era.
“ReSkin: Versatile, Replaceable, Lasting Tactile Skins”
Raunaq. Bhirangi, Tess Hellebrekers, Carmel Majidi and Abhinav Gupta · 2021
Cited alongside, same era.
“Six-Axis Force/Torque Sensors for Robotics Applications: A Review”
Max Cao, Stephen Laws and Ferdinando y Baena · 2021
Cited alongside, same era.
“Denoising Diffusion Implicit Models”
Jiaming Song, Chenlin Meng and Stefano Ermon · 2021
Cited alongside, same era.
“Visuo-Tactile Transformers for Manipulation”, 2022
Yizhou Chen, Mark der Merwe, Andrea Sipos and Nima Fazeli · 2022
Cited alongside, same era.
“See, Hear, and Feel: Smart Sensory Fusion for Robotic Manipulation”
Hao Li et al · 2022
Cited alongside, same era.
“Play to the Score: Stage-Guided Dynamic Multi-Sensory Fusion for Robotic Manipulation”
Ruoxuan Feng, Di Hu, Wenke Ma and Xuelong Li · 2024
Closest in time.
“Adaptive Compliance Policy: Learning Approximate Compliance for Diffusion Guided Control”
Yifan Hou et al · 2024
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“3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing”
Binghao Huang et al · 2024
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Tatsuya Kamijo, Cristian Beltran-Hernandez and Masashi Hamaya · 2024
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“A Survey of Robot Manipulation in Contact”
Markku Suomalainen, Yiannis Karayiannidis and Ville Kyrki · 2022
Cited alongside, same era.
“RT-1: Robotics Transformer for Real-World Control at Scale”
Anthony Brohan et al · 2023
Cited alongside, same era.
“Diffusion Policy: Visuomotor Policy Learning via Action Diffusion”
Cheng Chi et al · 2023
Cited alongside, same era.
“FurnitureBench: Reproducible Real-World Benchmark for Long-Horizon Complex Manipulation”
Minho Heo, Youngwoon Lee, Doohyun Lee and Joseph. Lim · 2023
Cited alongside, same era.
“Learning Fine-Grained Bimanual Manipulation with Low-Cost Hardware”
Tony. Zhao, Vikash Kumar, Sergey Levine and Chelsea Finn · 2023
Cited alongside, same era.
“RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control”
Brianna Zitkovich et al · 2023
Cited alongside, same era.
Moo Jin Kim et al · 2024
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Masato Kobayashi, Thanpimon Buamanee and Takumi Kobayashi · 2024
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Wenhai Liu et al · 2024
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“ManiWAV: Learning Robot Manipulation from In-the-Wild Audio-Visual Data”
Zeyi Liu et al · 2024
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“Hearing Touch: Audio-Visual Pretraining for Contact-Rich Manipulation”
Jared Mejia, Victoria Dean, Tess Hellebrekers and Abhinav Gupta · 2024
Closest in time.
“FORGE: Force-Guided Exploration for Robust Contact-Rich Manipulation under Uncertainty”
Michael Noseworthy et al · 2024
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“Octo: An Open-Source Generalist Robot Policy”
Octo Model Team et al · 2024
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Branden Romero, Hao-Shu Fang, Pulkit Agrawal and Edward Adelson · 2024
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“RISE: 3D Perception Makes Real-World Robot Imitation Simple and Effective”
Chenxi Wang, Hongjie Fang, Hao-Shu Fang and Cewu Lu · 2024
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“TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation”
Yansong Wu et al · 2024
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“CAGE: Causal Attention Enables Data-Efficient Generalizable Robotic Manipulation”
Shangning Xia, Hongjie Fang, Hao-Shu Fang and Cewu Lu · 2024
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“MimicTouch: Leveraging Multi-Modal Human Tactile Demonstrations for Contact-Rich Manipulation”
Kelin Yu et al · 2024
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“Transferable Tactile Transformers for Representation Learning Across Diverse Sensors and Tasks”
Jialiang Zhao, Yuxiang Ma, Lirui Wang and Edward Adelson · 2024
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“Admittance Visuomotor Policy Learning for General-Purpose Contact-Rich Manipulations”
Bo Zhou et al · 2024
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