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papersTODAY 04:00 UTC

Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Assembly

The paper introduces a pretraining method that uses proprioceptive signals as an anchor to align different sensory modalities, aiming to help robots handle contact-rich assembly tasks. Such tasks demand submillimeter precision and accurate force interpretation during sustained contact, which makes sim-to-real transfer difficult. The approach targets zero-shot deployment of policies trained in simulation onto real hardware. This is a replacement listing on arXiv cs.AI.

arXiv cross-modal pretraining proprioception robot assembly sim-to-real transfer zero-shot learning

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arXiv cs.AIProprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly ↗TODAY 04:00 UTC