A two-stage IL-RL method with tactile group sampling and a tactile critic achieves 67% success at 0.05 mm clearance while cutting max force by 60% and torque by 44%.
Visuotactile-Based Learning for Insertion with Compliant Hands
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From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances
A two-stage IL-RL method with tactile group sampling and a tactile critic achieves 67% success at 0.05 mm clearance while cutting max force by 60% and torque by 44%.