FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning 事件

FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning arXiv:2606.12406v1 Announce Type: cross Abstract: Contact-rich manipulation requires force sensitivity, but many robot arms lack dedicated force sensors due to their high cost. We present Neural External Torque Estimation (NEXT), a data-driven method that estimates external joint torques without needing any dedicated force sensors. NEXT trains in 1 minute from only 10 minutes of free-motion data, yet achi