UniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex

arXiv:2608.17432v1 Announce Type: new Abstract: Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning or retraining the network. We present UniReflex, a universal plug-and-play framework that equips frozen generative policies with variable impedance control (VIC) for contact regulation, guided by force-direction intent collected during demonstration, without further slow-...