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The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation, which achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.
Mitigate real-world robot manipulation failures by simulating and evaluating action trajectories *before* deployment, using a novel VLM- and diffusion-based framework.
