TacDiffusion: Force-Domain Diffusion Policy for Precise Tactile Manipulation
Wu, Yansong Chen, Zongxie Wu, Fan Chen, Lingyun Zhang, Liding Bing, Zhenshan Swikir, Abdalla Haddadin, Sami Knoll, Alois
Wu, Yansong
Chen, Zongxie
Wu, Fan
Chen, Lingyun
Zhang, Liding
Bing, Zhenshan
Swikir, Abdalla
Haddadin, Sami
Knoll, Alois
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
2025
License
Language
English
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Abstract
Assembly is a crucial skill for robots in both modern manufacturing and service robotics. However, mastering transferable insertion skills that can handle a variety of high-precision assembly tasks remains a significant challenge. This paper presents a novel framework that utilizes diffusion models to generate 6D wrench for high-precision tactile robotic insertion tasks. It learns from demonstrations performed on a single task and achieves a zero-shot transfer success rate of 95.7% across various novel high-precision tasks. Our method effectively inherits the self-adaptability demonstrated by our previous work. In this framework, we address the frequency misalignment between the diffusion policy and the real-time control loop with a dynamic system-based filter, significantly improving the task success rate by 9.15%. Furthermore, we provide a practical guideline regarding the trade-off between diffusion models' inference ability and speed.
Citation
Y. Wu et al., "TacDiffusion: Force-Domain Diffusion Policy for Precise Tactile Manipulation," 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 11831-11837, doi: 10.1109/ICRA55743.2025.11127334.
Source
International Conference on Robotics and Automation (ICRA)
Conference
2025 IEEE International Conference on Robotics and Automation (ICRA)
Keywords
Robotic Assembly, Service Robots, Diffusion Models, Robot Sensing Systems, Real-Time Systems, Robustness, Sensors, Assembly, Frequency Control, Guidelines
Subjects
Source
2025 IEEE International Conference on Robotics and Automation (ICRA)
Publisher
IEEE