By relying on independent couplings from uninformative Gaussian priors, standard diffusion and flow matching models are forced to learn complex, high-cost vector fields to reach the physical action space. Generative models excel at capturing multimodal behaviors for robotic Learn…
The four-channel teleoperation architecture is a well-established framework for achieving transparency in bilateral systems. However, its performance in human-scale teleoperation is limited by high inertia, modeling challenges, and reliance on noisy and costly force/torque sensor…