面向需要时变力的操作任务的层次化模仿学习方法

Rishabh Shukla, Adithya Santhosh, Shaili Gandhi, Samrudh Moode, Satyandra K. Gupta

Robotics and Computer-Integrated Manufacturing · 2026

摘要

本文提出了一种层次化模仿学习框架，用于处理需要时变力的机器人操作任务。该方法通过分层策略学习力和运动轨迹，提高了复杂操作任务的执行精度和适应性。

imitation learninghierarchicalforce controlmanipulationtime-varying forces

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