发表机构
Tsinghua University（清华大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究验证机器人铲取中腕部力/力矩可观测性，证明正确配对的F/T能显著提升体积预测精度，为接触密集任务的响应感知自主性奠定基础。
AI 中文摘要
采矿和土方工程是具身智能的重要实际部署场景。自主运输和驾驶系统已大幅改进，但装载和铲取仍常依赖熟练的人类操作员，使人员和设备面临操作风险。对于机器人铲取，接触前的RGB-D感知可揭示表面几何形状，但无法揭示交互过程中出现的阻力、压实、工具啮合或载荷传递。我们测试当前铲斗的六轴腕部力/力矩（F/T）或腕部扳手是否包含最终收集体积的信息，以及该信息是否依赖于正确配对的行动-地形交互。我们将此属性称为物理触觉可观测性。使用跨67种地形的6,700次真实机器人铲取，我们在地形留出测试下，将正确配对的当前铲斗F/T与接触前预测和对应性破坏控制进行比较。在回顾性60%序列边界处，正确配对的F/T相对于仅行动将平均绝对误差降低了14.2%，相对于跨地形不匹配的F/T降低了21.9%。工程化信号摘要跨模型架构重现了该结果。综合来看，这些发现将腕部扳手定位为不仅是低级反馈信号，而且是任务级感知模态，通过该模态具身机器人可以在交互过程中推断隐藏的物理状态，为采矿和其他接触密集型任务中的响应感知自主性提供基础。
英文摘要
Mining and earthmoving are important real-world deployment settings for embodied intelligence. Autonomous transport and driving systems have improved substantially, but loading and scooping still often depend on skilled human operators, exposing personnel and equipment to operational risk. For robotic scooping, pre-contact RGB-D sensing reveals surface geometry but not the resistance, compaction, tool engagement, or load transfer that emerge during interaction. We test whether the current scoop's six-axis wrist force/torque (F/T), or wrist wrench, contains information about final collected volume, and whether that information depends on the correctly paired action-terrain interaction. We call this property physical-touch observability. Using 6,700 real-robot scoops across 67 terrains, we evaluate correctly paired current-scoop F/T against pre-contact prediction and correspondence-breaking controls under terrain-held-out testing. At the retrospective 60% sequence boundary, correctly paired F/T reduces mean absolute error by 14.2% relative to Action-only and by 21.9% relative to cross-terrain mismatched F/T. Engineered signal summaries reproduce the result across model architectures. Together, these findings position wrist wrench not merely as a low-level feedback signal, but as a task-level perceptual modality through which embodied robots can infer hidden physical states during interaction, providing a foundation for response-aware autonomy in mining and other contact-rich tasks.
