Enhancement of Position Accuracy via DPB-Embedded ACT Model for Fine-Grained Manipulation Article Swipe
Since the 1960s, research on robots performing fine manipulation tasks has continuously advanced with the progress of electronic and information technologies. Despite some progress, challenges remain in areas such as the spatial perception capability of sensors, cumulative errors in imitation learning, and multimodal information fusion. The ACT (Action Chunking with Transformers) model has certain advantages in these areas, but it still faces shortcomings in complex state prediction and multi-scale, multimodal data processing. To address these issues, a Dynamic Position Bias (DPB) module is introduced to optimize action sequence outputs, enhance cross-scale feature capture and spatial perception, and improve the alignment and fusion of multimodal data. Experiments conducted on the Aloha simulation platform validate the effectiveness of the improved ACT model in two typical tasks, "Cube Transfer" and "Bimanual Insertion." Compared to the original ACT model and other baseline models, significant performance improvements were observed.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.54254/2755-2721/2025.22913
- https://www.ewadirect.com/proceedings/ace/article/view/22913/pdf
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All OpenAlex metadata
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https://openalex.org/W4410350375Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.54254/2755-2721/2025.22913Digital Object Identifier
- Title
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Enhancement of Position Accuracy via DPB-Embedded ACT Model for Fine-Grained ManipulationWork title
- Type
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articleOpenAlex work type
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enPrimary language
- Publication year
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2025Year of publication
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2025-05-15Full publication date if available
- Authors
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C. Z. YuanList of authors in order
- Landing page
-
https://doi.org/10.54254/2755-2721/2025.22913Publisher landing page
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https://www.ewadirect.com/proceedings/ace/article/view/22913/pdfDirect link to full text PDF
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YesWhether a free full text is available
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hybridOpen access status per OpenAlex
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https://www.ewadirect.com/proceedings/ace/article/view/22913/pdfDirect OA link when available
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Position (finance), Computer science, Business, FinanceTop concepts (fields/topics) attached by OpenAlex
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0Total citation count in OpenAlex
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