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Many contact-rich tasks humans perform, such as box pickup or rolling dough, rely on force feedback for reliable execution.
Compliance and force control for computer controlled manipulators
Matthew T Mason · 1981
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Impedance control: An approach to manipulation
Neville Hogan · 1984
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A unified approach for motion and force control of robot manipulators: The operational space formulation
Oussama Khatib · 1987
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The precise control of manipulators with joint friction: a base force/torque sensor method
G. Morel and S. Dubowsky · 1996
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Friction models and friction compensation
H. Olsson, K.J. Åström, C. Canudas de Wit, M. Gäfvert, and P. Lischinsky · 1998
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Springer handbook of robotics
Bruno Siciliano, Oussama Khatib, and Torsten Kröger · 2008
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Modern Robotics: Mechanics, Planning, and Control
Kevin M. Lynch and Frank C. Park · 2017
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Neural tangent kernel: Convergence and generalization in neural networks
Arthur Jacot, Franck Gabriel, and Clément Hongler · 2018
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Nathan D. Ratliff, Jan Issac, and Daniel Kappler · 2018
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On exact computation with an infinitely wide neural net
Sanjeev Arora, Simon S Du, Wei Hu, Zhiyuan Li, Russ R Salakhutdinov, and Ruosong Wang · 2019
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An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 2020
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Grasping in the wild: Learning 6dof closed-loop grasping from low-cost demonstrations
Shuran Song, Andy Zeng, Johnny Lee, and Thomas Funkhouser · 2020
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What makes training multi-modal classification networks hard?
Weiyao Wang, Du Tran, and Matt Feiszli · 2020
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Neurobehavioral assessment of force feedback simulation in industrial robotic teleoperation
Qi Zhu, Jing Du, Yangming Shi, and Paul Wei · 2021
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What matters in learning from offline human demonstrations for robot manipulation
Ajay Mandlekar, Danfei Xu, Josiah Wong, Soroush Nasiriany, Chen Wang, Rohun Kulkarni, Li Fei-Fei, Silvio Savarese, Yuke Zhu, and Roberto Martín-Martín · 2022
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When can transformers reason with abstract symbols?
Enric Boix-Adsera, Omid Saremi, Emmanuel Abbe, Samy Bengio, Etai Littwin, and Joshua Susskind · 2023
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Foar: Force-aware reactive policy for contact-rich robotic manipulation
Zihao He, Hongjie Fang, Jingjing Chen, Hao-Shu Fang, and Cewu Lu · 2024
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Adaptive compliance policy: Learning approximate compliance for diffusion guided control
Yifan Hou, Zeyi Liu, Cheng Chi, Eric Cousineau, Naveen Kuppuswamy, Siyuan Feng, Benjamin Burchfiel, and Shuran Song · 2024
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Masato Kobayashi, Thanpimon Buamanee, and Takumi Kobayashi · 2024
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Haptic-act: Bridging human intuition with compliant robotic manipulation via immersive vr
Kelin Li, Shubham M Wagh, Nitish Sharma, Saksham Bhadani, Wei Chen, Chang Liu, and Petar Kormushev · 2024
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Cheng Chi, Siyuan Feng, Yilun Du, Zhenjia Xu, Eric Cousineau, Benjamin Burchfiel, and Shuran Song · 2023
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An unbiased look at datasets for visuo-motor pre-training
Sudeep Dasari, Mohan Kumar Srirama, Unnat Jain, and Abhinav Gupta · 2023
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Orbit: A unified simulation framework for interactive robot learning environments
Mayank Mittal, Calvin Yu, Qinxi Yu, Jingzhou Liu, Nikita Rudin, David Hoeller, Jia Lin Yuan, Ritvik Singh, Yunrong Guo, Hammad Mazhar, Ajay Mandlekar, Buck Babich, Gavriel State, Marco Hutter, and Animesh Garg · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
Tony Z Zhao, Vikash Kumar, Sergey Levine, and Chelsea Finn · 2023
Cited alongside, same era.
Universal manipulation interface: In-the-wild robot teaching without in-the-wild robots
Cheng Chi, Zhenjia Xu, Chuer Pan, Eric Cousineau, Benjamin Burchfiel, Siyuan Feng, Russ Tedrake, and Shuran Song · 2024
Cited alongside, same era.
Wenhai Liu, Junbo Wang, Yiming Wang, Weiming Wang, and Cewu Lu · 2024
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Safe haptic teleoperations of admittance controlled robots with virtualization of the force feedback
Lorenzo Pagliara, Enrico Ferrentino, Andrea Chiacchio, and Giovanni Russo · 2024
Later among the works it cites.
Bimanual dexterity for complex tasks
Kenneth Shaw, Yulong Li, Jiahui Yang, Mohan Kumar Srirama, Ray Liu, Haoyu Xiong, Russell Mendonca, and Deepak Pathak · 2024
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Gello: A general, low-cost, and intuitive teleoperation framework for robot manipulators
Philipp Wu, Yide Shentu, Zhongke Yi, Xingyu Lin, and Pieter Abbeel · 2024
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Tacdiffusion: Force-domain diffusion policy for precise tactile manipulation
Yansong Wu, Zongxie Chen, Fan Wu, Lingyun Chen, Liding Zhang, Zhenshan Bing, Abdalla Swikir, Alois Knoll, and Sami Haddadin · 2024
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Just add force for delicate robot policies
William Xie, Stefan Caldararu, and Nikolaus Correll · 2024
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Claire Chen, Zhongchun Yu, Hojung Choi, Mark Cutkosky, and Jeannette Bohg · 2025
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