arxivcs.RO2026-07-23
URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation
Jiyou Shin, Youngjin Seo, Jaeseog Won, Sungwon Seo, Hyunjun Kim, Seokmin Yoon, et al.
Learning-based manipulation policies usually predict robot actions from sensory observations and leave their execution to a separate low-level controller. In rigid contact, this separation can be problematic: the same motion to a virtual target or compliant motion command can lea…