Training-time instrumentation with audio and privileged button-state signals produces contact policies that match success rates but apply lower forces using only vision and audio at inference.
Instrumentation for better demonstrations: A case study
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You're Pushing My Buttons: Instrumented Learning of Gentle Button Presses
Training-time instrumentation with audio and privileged button-state signals produces contact policies that match success rates but apply lower forces using only vision and audio at inference.