robotics
The Robot Predicts Force Alongside Motion
CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.
Summary
CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.
Vision alone cannot say how hard a robot is pressing. CW-WAM predicts aligned motion and wrench chunks and keeps a fixed history of earlier forces. A 20-hertz admittance controller follows those references between slower model queries. Compared with a version without wrench input, reported insertion success rose from 25 to 70 percent for square pegs and from 40 to 95 percent for power adapters, while force-reference error also fell on tested tasks. The gains are benchmark and hardware results under the authors' setup.
Why it matters
CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.
Limits and context
- Vision alone cannot say how hard a robot is pressing.
Key claims
CW-WAM jointly forecasts video, movement and contact wrench, then feeds force references to a faster controller.
Qualification: Vision alone cannot say how hard a robot is pressing.
Evidence: source-2026-10-22-006
Sources
- arXiv preprint 2610.30117, original v1arXiv · primary research
Corrections
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