A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.
Identifying contact formations from sensory patterns and its applicability to robot programming by demon- stration,
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Robust and Resilient Soft Robotic Object Insertion with Compliance-Enabled Contact Formation and Failure Recovery
A passively compliant soft wrist structures insertion as sequential contact formations and uses a VLM to recover from failures, reaching 83% success in simulation across randomized grasp, pose, friction, and shape variations with real-robot validation.