LATIDIA · Robótica

En los modelos con control de HOT START / ARC FORCE poner el control 7 al minimo.

arXiv: 2609.37433v1Tipo de anuncio: nuevo Resumen: Los modelos de cimientos robóticos (RFM) son cada vez más capaces de manipulación de propósito general, pero la interacción física confiable sigue siendo un desafío en entornos ricos en contactos. W

La noticia

arXiv:2609.37433v1 Announce Type: new Abstract: Robotic foundation models (RFMs) are increasingly capable of general-purpose manipulation, yet reliable physical interaction remains challenging in contact-rich settings. We present FP2, a lightweight downstream interface that equips task-adapted RFMs with explicit force control while preserving their action-generation capability. FP2 adopts an action-regulation decomposition: the task-adapted RFM serves as a foundation policy responsible for task-level action generation, while a high-frequency force control policy focuses solely on interaction regulation. To condition force regulation on the ongoing manipulation, FP2 compresses foundation-policy contextual representations and combines them with wrench and proprioceptive histories to predict structured force-control parameters. We evaluate FP2 with four RFM backbones across four real-world contact-rich