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English(EN) TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation

新模块自适应机器人扭矩以实现鲁棒运动迁移

作者 PulseAugur 编辑部 · [2 个来源] ·

研究人员开发了一个扭矩自适应模块（TAM），以改善机器人跨不同硬件和负载的运动迁移。TAM学习调整扭矩指令，使在模拟中训练的策略能够在真实机器人上稳健执行，而无需进行广泛的再训练或领域随机化。该模块已在 Franka Panda 机器人上成功实现了零样本执行，用于推箱子和平衡等任务。 AI

影响 能够更可靠地将训练好的机器人策略部署到具有不同硬件的真实世界场景中。

排序理由 该集群包含一篇详细介绍机器人运动迁移新方法的学术论文。

在 arXiv cs.AI 阅读 →

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新模块自适应机器人扭矩以实现鲁棒运动迁移

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报道来源 [2]

  1. arXiv cs.AI TIER_1 English(EN) · Dongwon Son, Florian Shkurti, Jason Lee, Naman Shah, Beomjoon Kim, Dieter Fox ·

    TAM：用于鲁棒操作运动传递的扭矩自适应模块

    arXiv:2606.06218v1 Announce Type: cross Abstract: A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot. In contact-rich, dynamic manipulation, even sma…

  2. arXiv cs.AI TIER_1 English(EN) · Dieter Fox ·

    TAM：用于鲁棒操作运动传递的扭矩自适应模块

    A policy tuned for one robot often behaves differently on another, whether due to the sim-to-real gap, unknown payloads, or the differing dynamics of two instances of the same robot. In contact-rich, dynamic manipulation, even small motion discrepancies can result in failure to t…

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