Torque Demonstration
In this section, we present a video demonstrating torque variations in real-world scenarios. The video showcases a robot arm performing tasks with varying joint torques. From left to right, we present three tasks: Charger Plugging, USB Plugging, and Button Pushing. For each task, the first video provides a top-down view, the second video offers a front view, and the third video visualizes the torque variations. These three videos are time-synchronized and played at 1x speed.
Charger Plugging
USB Plugging
Button Pushing
Contact-Rich Tasks
In this section, we present five videos showcasing the performance of the torque-aware model in the following five contact-rich tasks: Button Pushing, Charger Plugging, USB Plugging, Door Opening, and Drawer Opening. These videos are played at 1x speed.
Button Pushing
Charger Plugging
USB Plugging
Socket Unplugging
Door Handle Turning
Regular Tasks
In this section, we present five videos showcasing the performance of the torque-aware model in the following five regular tasks: Bottle Pick and Place, Liquid Pouring, Stacking Cubes, Push-to-Position, and Opening a Drawer. These videos are played at 1x speed.
Bottle Pick and Place
Liquid Pouring
Stacking Cubes
Push-to-Position
Opening a Drawer
Cross Embodiment
In this section, we present a video demonstrating the performance of cross embodiment performance using the ROKAE SR robotic arm. The tasks include inserting a fast-charging connector and a slow-charging connector. The video is played at 1x speed.