外观
论文arXiv 2610.1838615 天前
未知阻力下视觉运动策略的意图引导自适应增刚
原文链接：Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance（arXiv 2610.18386 · 发布日期：2026-10-13）
Intent-guided Adaptive Stiffening for Visuomotor Policies under Unknown Resistance
针对未知阻力下视觉运动策略执行权限不足问题，提出残差增刚层，并在两个真实接触操作任务上验证。
核心要点
- 高摩擦接触任务需沿阻力方向施力，柔顺控制器受跟踪误差限制可能无法完成。
- 在未修改策略下加入残差增刚层，用指令与实际运动不匹配识别阻力，无需力传感。
- 四模式监督器沿策略动作片段给出的单一方向增刚、保持并在任务后释放。
- 在拧瓶盖和推T形螺母两项真机任务中，成功率由52%升至90%，离轴峰值力低61%。
验证范围与局限：验证范围为两个真实任务、六个阻力等级，其中两个等级未出现在示教中。
英文摘要 (Abstract)
Manipulation tasks such as unscrewing a cap or sliding a part in contact with a surface require imposing force along a high-friction direction: the robot must overcome a resistance rather than yield to it. Generative visuomotor policies predict the motion for such tasks but not the authority needed to realize it, and that authority is bounded by the impedance controller beneath them: when the resistance exceeds what a compliant controller can exert under a bounded tracking error, the task is unattainable however accurate the prediction is. The required amount cannot be anticipated either, since it depends on a contact state the observation does not reveal. In this paper, we propose a residual stiffening layer placed underneath an unmodified policy. Resistance is recognized, without force sensing, from the mismatch between the motion the policy commands and the motion the robot realizes, and a four-mode supervisor raises the stiffness along a single direction read off the policy's own action chunk, retains it while the task progresses and releases it afterwards. The layer needs no compliance labels, no retraining and no re-collected demonstrations. On two real tasks, unscrewing a bottle cap and pushing a T-nut along a T-slot groove against non-homogeneous friction, evaluated at six resistance levels of which two were withheld from the demonstrations, the layer raises the success rate from 52% to 90% while producing 61% less peak off-axis force than a uniformly stiff controller at the same resistance.
作者：Francesco Cufino, Carmela Mariniello, Mario Selvaggio, Andreas Sochopoulos, Fabio Ruggiero
来源
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