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ContactFlowFilter: An Online Contact Estimation Method for Robotic Arms Based on Flow Matching and Particle Filtering

The paper proposes ContactFlowFilter for estimating the number, locations, and force vectors of active contacts on a robotic arm equipped only with joint torque sensors and a base force/torque sensor. The method uses a flow matching model as an auxiliary proposal distribution for a particle filter, leveraging the particle filter's recursive structure to capture temporal dependencies while tracking multimodal beliefs and detecting contact addition and removal events.

Part of the event: Proposes ContactFlowFilter online contact estimation method

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