ImplicitRDP: An End-to-End Visual-Force Diffusion Policy with Structural Slow-Fast Learning

We introduce ImplicitRDP, an end-to-end visual-force diffusion policy that integrates visual planning and reactive force control within a single network using Structural Slow-Fast Learning and Virtual-target-based Representation Regularization.

关键词：ImplicitRDP, Slow-Fast Policy, Visual-Force Policy Learning, Contact-Rich Manipulation, Force Control, Robot Learning, Diffusion Policy