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Robot policies reportedly insert pegs, mesh gears and thread nuts using only joint positions
A researcher says the peg-insertion policy worked zero-shot in the real world, without cameras or tactile sensors.
TLDR
A researcher says a robot’s joint encoders pick up slight deviations from commands when it touches an object. Their policies use only joint positions to insert pegs, mesh gears and thread nuts, without cameras, tactile sensors or object poses. They say the peg-insertion policy also worked zero-shot in the real world.
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