時間変動力を要する操作タスクのための階層的模倣学習アプローチ
A Hierarchical Approach to Imitation Learning for Manipulation Tasks Requiring Time Varying Forces
拡散ポリシーによる低周波プランニングと、力条件付きの高速インピーダンス制御を組み合わせた階層的アーキテクチャを提案し、接触を伴う分解タスクを高周波で安定に実行する。
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著者: Rishabh Shukla, Adithya Santhosh, Shaili Gandhi, Samrudh Moode, Satyandra K. Gupta
分類: cs.RO, cs.AI
原文アブストラクト
Diffusion policies have shown strong performance in learning complex, multi-modal behaviors for robotic manipulation. However, their application to contact-rich disassembly tasks remains limited by a key trade-off: the iterative denoising process introduces inference latencies that makes high frequency control difficult, which is essential for realizing dynamic interactions such as chiseling and prying. Recent action-chunking techniques mitigate latency but use an open-loop execution window, rendering the system blind to rapid force transients caused by fracture events. To bridge this gap, we introduce the Diffusion Policy Augmented by Fast Trajectory Generation (DPA-FTG). Compared to recent visual-tactile approaches that focus on positional correction, DPA-FTG decouples low-frequency planning from high-frequency force regulation. At the high level ($5$ Hz), a conditional diffusion model predicts a sequence of latent parameters for selecting a strategy from a learned vocabulary of task primitives. At the low level ($60$ Hz), a lightweight, force-conditioned policy acts as a neural impedance controller, modulating execution in real-time to maintain contact stability. We validate our approach on a bimanual battery disassembly task involving the separation of a compliant sheet. Experimental evaluation demonstrates that DPA-FTG outperforms state-of-the-art baselines, including Reactive Diffusion Policy (RDP).