Robotics paper index
Dreaming the Sound of Contact: Leveraging Video and Audio Generation for Zero-Shot Force-Aware Manipulation and Data Generation
One-line summary
A robotics research paper on Dreaming the Sound of Contact: Leveraging Video and Audio Generation for Zero-Shot Force-Aware Manipulation and Data Generation.
Engineering notes
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Chinese explanation / 中文解读
中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。
Original abstract
Recent advances in video generation allow robots to learn manipulation trajectories from generated videos. However, these approaches produce purely kinematic trajectories that lack force information, causing failures in contact-rich tasks where appropriate contact forces are essential for success. In this work, we explore augmenting generated video with audio to shape a bounded, time-varying desired-force profile using the loudness of generated contact sounds. We present a pipeline that jointly leverages generated video and audio to derive motion trajectories and corresponding desired-force profiles from a structured natural-language task prompt. We execute these force-aware trajectories on a Franka Panda robot using a closed-loop force regulator that tracks the audio-shaped force profile during contact. We evaluate our pipeline on multiple tasks that require making contact and demonstrate successful manipulation where a kinematic-only baseline fails. We also use the pipeline as a data generation engine to train policies that achieve the tasks in a closed-loop manner. Project website, videos, and dataset: https://dreamingcontactsound.github.io/
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