arxivcs.RO2026-07-16
Beyond Implicit Force: Evaluating Explicit Force-Torque Proxies in Action Chunking with Transformers
King Hang Wong, Lingqiao Liu, Feras Dayoub
Contact-rich manipulation requires policies to infer interaction state from signals that are often weakly observable through vision and kinematics alone. Action Chunking with Transformers (ACT) has shown strong performance in fine-grained manipulation, but many deployments collec…