| Naslov: | A survey on imitation learning for contact-rich tasks in robotics |
|---|
| Avtorji: | ID Tsuji, Toshiaki (Avtor)
ID Kato, Yasuhiro (Avtor)
ID Solak, Gokhan (Avtor)
ID Zhang, Heng (Avtor)
ID Petrič, Tadej, Institut "Jožef Stefan" (Avtor)
ID Nori, Francesco (Avtor)
ID Ajoudani, Arash (Avtor) |
|---|
| Datoteke: |  URL - Izvorni URL, za dostop obiščite https://journals.sagepub.com/doi/10.1177/02783649261417694
 PDF - Predstavitvena datoteka, prenos (1,57 MB)
MD5: 6ECAB34689B020CD5AC3A9EDC6880C9D
|
|---|
| Jezik: | Angleški jezik |
|---|
| Tipologija: | 1.02 - Pregledni znanstveni članek |
|---|
| Organizacija: |  IJS - Institut Jožef Stefan
|
|---|
| Povzetek: | This paper comprehensively surveys research trends in imitation learning (IL) for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to their nonlinear dynamics and sensitivity to small positional deviations. The paper examines demonstration collection methodologies, including teaching methods and sensory modalities crucial for capturing subtle interaction dynamics. We then analyze IL approaches, highlighting their applications to contact-rich manipulation. Recent advances in multimodal learning and foundation models have significantly enhanced performance in complex contact tasks across industrial, household, and healthcare domains. Through systematic organization of current research and identification of challenges, this survey provides a foundation for future advancements in contact-rich robotic manipulation. |
|---|
| Ključne besede: | imitation learning, contact-rich robotic tasks, reinforcement learning, impedance control |
|---|
| Status publikacije: | Objavljeno |
|---|
| Verzija publikacije: | Objavljena publikacija |
|---|
| Poslano v recenzijo: | 11.06.2025 |
|---|
| Datum sprejetja članka: | 27.12.2025 |
|---|
| Datum objave: | 14.03.2026 |
|---|
| Založnik: | Sage Publications |
|---|
| Leto izida: | 2026 |
|---|
| Št. strani: | str. 1-36 |
|---|
| Številčenje: | Vol. 45, iss. |
|---|
| Izvor: | Združeno kraljestvo |
|---|
| PID: | 20.500.12556/DiRROS-28477  |
|---|
| UDK: | 007.52 |
|---|
| ISSN pri članku: | 1741-3176 |
|---|
| DOI: | 10.1177/02783649261417694 |
|---|
| COBISS.SI-ID: | 272456707 |
|---|
| Avtorske pravice: | © The Author(s) 2026 |
|---|
| Opomba: | Nasl. z nasl. zaslona;
Soavtor iz Slovenije: Tadej Petrič;
Opis vira z dne 20. 3. 2026;
|
|---|
| Datum objave v DiRROS: | 20.03.2026 |
|---|
| Število ogledov: | 257 |
|---|
| Število prenosov: | 95 |
|---|
| Metapodatki: |    |
|---|
|
:
|
Kopiraj citat |
|---|
| | | | Objavi na: |  |
|---|
Postavite miškin kazalec na naslov za izpis povzetka. Klik na naslov izpiše
podrobnosti ali sproži prenos. |
