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A survey on imitation learning for contact-rich tasks in robotics [Elektronski vir]Tsuji, Toshiaki ...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.Source: The international journal of robotics research [Elektronski vir]. - ISSN 1741-3176 (Vol. 45, iss. ,
2026, str. 1-36) Type of material - e-article ; adult, seriousPublish date - 2026Language - englishCOBISS.SI-ID - 272456707
Digital content: dCOBISS
| Author | Tsuji, Toshiaki ... |
| Title | A survey on imitation learning for contact-rich tasks in robotics [Elektronski vir] |
| Publication date | 2026-03-14 |
| COBISS.SI-ID | 272456707 |
| Publication version in repository | Publisher's version |
| Publication licence | Creative Commons Attribution-NonCommercial 4.0 International |
| Embargo | Immediate publication for public |
Project(s) from which the publication was funded
| Title | Acronym | Project ID | Funder |
|---|---|---|---|
| Dinamična več kontaktna interakcija celega telesa za izboljšanje natančnosti manipulacije | N2-0269-2022 |
Javna agencija za znanstvenoraziskovalno in inovacijsko dejavnost Republike Slovenije |
|
| foundaTion mOdels for Robots that haNdle smAll, soft and Deformable Objects | TORNADO | 101189557 |
European Commission |
| - | JP25K01191 |
Japan Society for the Promotion of Science |
Files that belong to the publication
https://journals.sagepub.com/doi/10.1177/02783649261417694
Source: Personal bibliographies
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