{"id":"https://openalex.org/W7133775448","doi":"https://doi.org/10.48550/arxiv.2603.04038","title":"Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control","display_name":"Force-Aware Residual DAgger via Trajectory Editing for Precision Insertion with Impedance Control","publication_year":2026,"publication_date":"2026-03-04","ids":{"openalex":"https://openalex.org/W7133775448","doi":"https://doi.org/10.48550/arxiv.2603.04038"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.04038","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"article","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128158417","display_name":"Yiou Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yiou","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128195955","display_name":"Ma Ning","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ma, Ning","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085009456","display_name":"Weichu Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Weichu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128132442","display_name":"Zinuo Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zinuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128153582","display_name":"Jun Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Jun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125268655","display_name":"Qiufeng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Qiufeng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128183102","display_name":"Yaran Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yaran","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.24014704,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.785099983215332,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.785099983215332,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.04830000177025795,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.03180000185966492,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7166000008583069},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.7059000134468079},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.6568999886512756},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5478000044822693},{"id":"https://openalex.org/keywords/covariate","display_name":"Covariate","score":0.5351999998092651},{"id":"https://openalex.org/keywords/lever","display_name":"Lever","score":0.4410000145435333},{"id":"https://openalex.org/keywords/anticipation","display_name":"Anticipation (artificial intelligence)","score":0.43529999256134033},{"id":"https://openalex.org/keywords/property","display_name":"Property (philosophy)","score":0.37950000166893005}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7300000190734863},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7166000008583069},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.7059000134468079},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.6568999886512756},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5478000044822693},{"id":"https://openalex.org/C119043178","wikidata":"https://www.wikidata.org/wiki/Q320723","display_name":"Covariate","level":2,"score":0.5351999998092651},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.44699999690055847},{"id":"https://openalex.org/C107524782","wikidata":"https://www.wikidata.org/wiki/Q40164","display_name":"Lever","level":2,"score":0.4410000145435333},{"id":"https://openalex.org/C176777502","wikidata":"https://www.wikidata.org/wiki/Q4774623","display_name":"Anticipation (artificial intelligence)","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C189950617","wikidata":"https://www.wikidata.org/wiki/Q937228","display_name":"Property (philosophy)","level":2,"score":0.37950000166893005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36169999837875366},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33559998869895935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32440000772476196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3237000107765198},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.32249999046325684},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.3068000078201294},{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.29280000925064087},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.28850001096725464},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.27549999952316284},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.258899986743927},{"id":"https://openalex.org/C2780799671","wikidata":"https://www.wikidata.org/wiki/Q17087362","display_name":"Transient (computer programming)","level":2,"score":0.25130000710487366}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.04038","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.04038","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.04038","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.04038","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4167999029159546}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Imitation":[0],"learning":[1,52,59],"(IL)":[2],"has":[3],"shown":[4],"strong":[5],"potential":[6],"for":[7,25,107],"contact-rich":[8,129,174],"precision":[9,138],"insertion":[10,139],"tasks.":[11],"However,":[12],"its":[13,163],"practical":[14],"deployment":[15,172],"is":[16],"often":[17],"hindered":[18],"by":[19,58,149],"covariate":[20,56,167],"shift":[21,57,168],"and":[22,48,78,99,125,136,159,169],"the":[23,105,145],"need":[24],"continuous":[26,108],"expert":[27,109],"monitoring":[28],"to":[29,153],"recover":[30],"from":[31],"failures":[32],"during":[33,128],"execution.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,82],"propose":[39],"Trajectory":[40],"Editing":[41],"Residual":[42],"Dataset":[43],"Aggregation":[44],"(TER-DAgger),":[45],"a":[46,84,118],"scalable":[47,171],"force-aware":[49,85],"human-in-the-loop":[50],"imitation":[51],"framework":[53],"that":[54,89,142],"mitigates":[55],"residual":[60],"policies":[61,114],"through":[62],"optimization-based":[63],"trajectory":[64],"editing.":[65],"This":[66],"approach":[67],"smoothly":[68],"fuses":[69],"policy":[70],"rollouts":[71],"with":[72],"human":[73,91],"corrective":[74],"trajectories,":[75],"providing":[76],"consistent":[77],"stable":[79],"supervision.":[80],"Second,":[81],"introduce":[83],"failure":[86],"anticipation":[87],"mechanism":[88],"triggers":[90],"intervention":[92],"only":[93],"when":[94],"discrepancies":[95],"arise":[96],"between":[97],"predicted":[98],"measured":[100],"end-effector":[101],"forces,":[102],"significantly":[103],"reducing":[104],"requirement":[106],"monitoring.":[110],"Third,":[111],"all":[112],"learned":[113],"are":[115],"executed":[116],"within":[117],"Cartesian":[119],"impedance":[120],"control":[121],"framework,":[122],"ensuring":[123],"compliant":[124],"safe":[126],"behavior":[127,154],"interactions.":[130],"Extensive":[131],"experiments":[132],"in":[133,165,173],"both":[134],"simulation":[135],"real-world":[137],"tasks":[140],"show":[141],"TER-DAgger":[143],"improves":[144],"average":[146],"success":[147],"rate":[148],"over":[150],"37\\%":[151],"compared":[152],"cloning,":[155],"human-guided":[156],"correction,":[157],"retraining,":[158],"fine-tuning":[160],"baselines,":[161],"demonstrating":[162],"effectiveness":[164],"mitigating":[166],"enabling":[170],"manipulation.":[175]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2026-03-06T00:00:00"}