arXiv Robotics — research abstracts· Xian Nie, Yujie Zang, Yuhang Zheng, Yupeng Zheng, Songen Gu, Wendi Chen, Chuan Wen, Cewu Lu, Wenchao Ding, Junchi Yan, Shuicheng Yan·· 5 days agoEditorial score62
Contact Trajectory Prompting: In-Context Transfer of Contact-Rich Behaviors from a Single Demonstration
Contact Trajectory Prompting: In-Context Transfer of Contact-Rich Behaviors from a Single Demonstration
Summary
The paper presents Contact Trajectory Prompting (CTP), a framework that enables robots to learn contact-rich manipulation behaviors from a single demonstration. CTP encodes motion and contact information into an ordered trajectory prompt, allowing robots to perform tasks such as wiping, rotation, and insertion with high success rates. The method outperforms existing baselines by 13 percentage points in real-world tasks.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org