Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control
cs.RO
Submitted: 2026-09-29
Updated: 2026-09-29
Terminology
Sources
- TAP-VLA: Tactile Annotation Prompting for Vision Language Action Models
- T-Rex: Tactile-Reactive Dexterous Manipulation
- Sound of Touch: Active Acoustic Tactile Sensing via String Vibrations
- FILIC: Dual-Loop Force-Guided Imitation Learning with Impedance Torque Control for Contact-Rich Manipulation Tasks
- URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation
- UniForce: A Unified Latent Force Model for Robot Manipulation with Diverse Tactile Sensors
- PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation
- Phase-Conditioned Imitation Learning with Autonomous Failure Recovery for Robust Deformable Object Manipulation
- Mind the Gap: Learning Implicit Impedance in Visuomotor Policies via Intent-Execution Mismatch
- TacUMI: A Multi-Modal Universal Manipulation Interface for Contact-Rich Tasks
- Tactile-VLA: Unlocking Vision-Language-Action Model's Physical Knowledge for Tactile Generalization
- ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
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