Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control

Description

Imitation learning (IL) has shown strong potential for contact-rich precision insertion tasks. However, its practical deployment is often hindered by covariate shift and the need for continuous expert monitoring to recover from failures during execution. In this paper, we propose Trajectory Editing Residual Dataset Aggregation (TER-DAgger), a scalable and force-aware human-in-the-loop imitation learning framework that mitigates covariate shift by learning residual policies through optimization-b

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