TAM: reusable torque adaptation for manipulation
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Loading videoTAM sits between the low-level controller and torque interface, using proprioceptive history to predict residual torque corrections and transfer zero-shot from randomized simulation to a real Franka.
TAMTorque AdaptationSim-to-RealManipulationFranka PandaReinforcement LearningImitation LearningMPCCoRLRobot LearningRobotic Arm
Category: arm
Author: @dongwonson110
Date: 2026-09-05T00:00:00
Duration: 31.8s
Reference: https://arxiv.org/abs/2606.06218
