Preprint
Sep 2026
What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation
How should a robot learn to manipulate objects so fragile that sub-Newton contact forces can cause irreversible damage? Existing visuo-tactile policy learning typically treats tactile sensing as an additional policy input. In direct-contact force-sensitive manipulation, however, the bottleneck can arise earlier, during...
Zi-Yang Feng, Zi-Zhao Yuan, Yu-Long Fu et al.
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