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Hardware-as-Regularization: Improving Imitation Learning Data Consistency with an Adjustable Passive Compliant Leader Arm

An arXiv paper proposes the Hardware-as-Regularization method, which uses a low-cost passive joint module (an adjustable mechanical clutch plus a 3D-printed spiral spring) to pull each joint toward a user-defined neutral posture, so that the passive restoring force acts as a physical prior for joint-space L2 regularization.

Part of the event: Passive Compliance Leading-Arm Proposed to Improve Data Consistency

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