TacDiffusion: Force-domain Diffusion Policy for Precise Tactile Manipulation

Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This paper presents a novel framework that utilizes diffusion models...

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Veröffentlicht in:	arXiv.org 2024-09
Hauptverfasser:	Wu, Yansong, Chen, Zongxie, Wu, Fan, Chen, Lingyun, Zhang, Liding, Zhenshan Bing, Abdalla Swikir, Knoll, Alois, Haddadin, Sami
Format:	Artikel
Sprache:	eng
Schlagworte:	Assembly Automation Diffusion rate Industrial robots Insertion Misalignment Real time Robotics
Online-Zugang:	Volltext
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