AIBullisharXiv – CS AI · 9h ago7/10
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TAM: Torque Adaptation Module for Robust Motion Transfer in Manipulation
Researchers introduce Torque Adaptation Module (TAM), a learned module that adapts robot torque commands to compensate for dynamics differences across robot instances, payload variations, and sim-to-real gaps. TAM enables reusable policy adaptation without requiring robot-specific retraining or real-world data collection, demonstrating robust performance on dynamic manipulation tasks with a real Franka Panda robot.