Preprint
Sep 2026
PSR: Predictive Sensorimotor Representation Learning for Contact-Rich Manipulation
Contact-rich manipulation requires policies to generate precise actions by reasoning over contact forces, robot configurations, and interaction histories beyond visual observations. Existing methods passively condition on force feedback rather than actively predicting future contact dynamics, limiting their ability to...
Sheng-Bao Li, Peng Xu, Chao Tang et al.
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