AIBullisharXiv – CS AI · 7h ago7/10
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FACTR 2: Learning External Force Sensing for Commodity Robot Arms Improves Policy Learning
Researchers introduce NEXT, a neural network method that estimates external joint torques on robot arms without dedicated force sensors, paired with FIRST, a training technique that improves policy learning by 17% across long-horizon tasks. This breakthrough enables cost-effective force-aware teleoperation and manipulation on commodity robots by leveraging only 10 minutes of free-motion calibration data.