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URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation
Published in arXiv preprint arXiv:2607.20912, 2026
URF connects compliant action prediction with unified impedance-admittance control. From multimodal observations it predicts a virtual target, a stiffness matrix, and an impedance-admittance switch ratio, deciding when to use admittance control for accurate motion tracking versus impedance control for safer rigid contact.
Recommended citation: Jiyou Shin, Youngjin Seo, Jaeseog Won, Sungwon Seo, Hyunjun Kim, Seokmin Yoon, Tuan Luong, and Hyungpil Moon. (2026). "URF: A Unified Robot Control-Policy Framework for Stable Contact Aware Manipulation." arXiv preprint arXiv:2607.20912.
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Reverse Playback Motion: A Simple Way for Anyone to Obtain High-Quality Demonstration Data
Published in International Journal of Precision Engineering and Manufacturing, 2026
A demonstration-collection framework in which the operator starts from the goal state and performs the reverse motion, which is inherently easier to execute; the recorded end-effector poses are then temporally reversed into valid forward trajectories. Evaluated on five constrained manipulation tasks, both single-stage and multi-stage.
Recommended citation: Hyunjun Kim, Jaeseog Won, Hong-ryul Jung, Donghoon Kim, Minsuk Ko, and Hyungpil Moon. (2026). "Reverse Playback Motion: A Simple Way for Anyone to Obtain High-Quality Demonstration Data." International Journal of Precision Engineering and Manufacturing, 1-11.
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