Imp-ACT：基于Transformer的自适应阻抗控制与动作分块，从示范中学习接触丰富的操作
Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations
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中文总结 AI 辅助
Imp-ACT通过遥操作中自适应刚度调制和Transformer动作分块，在擦拭和插头插入任务中实现高成功率并显著降低接触力。
中文摘要 AI 辅助
接触丰富的操作要求机器人在精确跟踪运动与顺从交互之间取得平衡，然而大多数视觉-动作策略将顺从性固定于控制器层面。我们提出Imp-ACT，一种在方法上扎实且实用的方法，将方向相关的笛卡尔刚度调制直接融入示范采集过程，无需手动选择刚度或离线重建目标。在遥操作期间，自整定阻抗控制器沿瞬时运动方向调整刚度，同时在正交方向保持顺从性。调整后的刚度与视觉观测和运动指令一同应用并记录，从而在同一动力学下捕获运动和顺从性。我们使用基于Transformer的动作分块（ACT）实现该流程，从视觉、本体感觉和力/力矩观测中预测末端执行器位姿、夹爪动作和运动方向刚度。Imp-ACT的性能在擦拭和插头插入任务中通过成功率和接触行为的定量指标进行评估。与固定的低刚度和高刚度基线相比，Imp-ACT在保持低交互力的同时实现了相当或更高的成功率。在擦拭任务中，相对于顺从基线，接触力振动减少约29倍；相对于刚性基线，减少约180倍。在插头插入任务中，相对于更好的固定刚度基线，沿插入方向正交的力减少43%。这些结果凸显了在任务执行所需方向上保持足够刚度，同时在其他方向保持顺从性以限制接触力并适应环境约束的益处。
英文摘要
Contact-rich manipulation requires robots to balance accurate motion tracking with compliant interaction, yet most visual-action policies leave compliance fixed at the controller level. We present Imp-ACT, a methodologically grounded and practical approach to incorporating direction-dependent Cartesian stiffness modulation directly into demonstration collection, without manual stiffness selection or offline target reconstruction. During teleoperation, a self-tuning impedance controller adapts stiffness along the instantaneous direction of motion while maintaining compliance in orthogonal directions. The adapted stiffness is applied and recorded alongside visual observations and motion commands, capturing motion and compliance under the same dynamics. We implement this pipeline using Action Chunking with Transformer (ACT) to predict end-effector pose, gripper action, and motion-direction stiffness from visual, proprioceptive, and wrench observations. The performance of Imp-ACT is evaluated on wiping and plug insertion using both success rate and quantitative measures of contact behavior. Compared with fixed low- and high-stiffness baselines, Imp-ACT achieves comparable or higher success while maintaining low interaction forces. In wiping, it reduces contact-force vibration by approximately $29\times$ relative to the compliant baseline and $180\times$ relative to the stiff baseline. In plug insertion, it reduces forces orthogonal to the insertion direction by $43\%$ relative to the better fixed-stiffness baseline. These results highlight the benefit of maintaining sufficient stiffness along the direction needed for task execution while preserving compliance in other directions to limit contact forces and accommodate environmental constraints.
发表机构
- Istituto Italiano di Tecnologia（意大利理工学院）
- Carnegie Mellon University（卡内基梅隆大学）
机构由 AI 辅助整理，请以论文原文为准。
