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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| Online-Zugang: | https://arxiv.org/abs/2504.11827 |
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| _version_ | 1866916693105704960 |
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| author | Xie, William Correll, Nikolaus |
| author_facet | Xie, William Correll, Nikolaus |
| contents | This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data collection, behavior cloning, tactile representation learning, and low-level robot control. From our analysis, we articulate when and why forces are needed, and highlight opportunities to improve learning of contact-rich, generalist robot policies on the path toward highly capable touch-based robot foundation models. We generally find that while there are few tasks such as pouring, peg-in-hole insertion, and handling delicate objects, the performance of imitation learning models is not at a level of dynamics where force truly matters. Also, force and touch are abstract quantities that can be inferred through a wide range of modalities and are often measured and controlled implicitly. We hope that juxtaposing the different approaches currently in use will help the reader to gain a systemic understanding and help inspire the next generation of robot foundation models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_11827 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Towards Forceful Robotic Foundation Models: a Literature Survey Xie, William Correll, Nikolaus Robotics This article reviews contemporary methods for integrating force, including both proprioception and tactile sensing, in robot manipulation policy learning. We conduct a comparative analysis on various approaches for sensing force, data collection, behavior cloning, tactile representation learning, and low-level robot control. From our analysis, we articulate when and why forces are needed, and highlight opportunities to improve learning of contact-rich, generalist robot policies on the path toward highly capable touch-based robot foundation models. We generally find that while there are few tasks such as pouring, peg-in-hole insertion, and handling delicate objects, the performance of imitation learning models is not at a level of dynamics where force truly matters. Also, force and touch are abstract quantities that can be inferred through a wide range of modalities and are often measured and controlled implicitly. We hope that juxtaposing the different approaches currently in use will help the reader to gain a systemic understanding and help inspire the next generation of robot foundation models. |
| title | Towards Forceful Robotic Foundation Models: a Literature Survey |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.11827 |