Force-Modulated Dexterity: Unified Compliance for Contact-Rich Manipulation
Teleoperation is widely used to collect high-quality demonstrations for robot learning. Dexterous manipulation, however, requires coordinated control of motion and contact forces. Operators can specify motion, but struggle to reproduce the subtle force adjustments of human manipulation without feeling the robot's conta...
Ying Yuan, David Held, Jitendra Malik et al.
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