MOMA-Force: Visual-Force Imitation for Real-World Mobile Manipulation
Taozheng Yang,Ya Jing,Hongtao Wu,Jiafeng Xu,Kuankuan Sima,Guangzeng Chen,Qie Sima,Tao Kong,Taozheng Yang,Ya Jing,Hongtao Wu,Jiafeng Xu,Kuankuan Sima,Guangzeng Chen,Qie Sima,Tao Kong
In this paper, we present a novel method for mobile manipulators to perform multiple contact-rich manipulation tasks. While learning-based methods have the potential to generate actions in an end-to-end manner, they often suffer from insufficient action accuracy and robustness against noise. On the other hand, classical control-based methods can enhance system robustness, but at the cost of extens...
