CASIA adds fingertip touch to robot insertion, lifting 0.05 mm success from 52% to 67%
AIResearchers at the Chinese Academy of Sciences' Institute of Automation add a fingertip tactile sensor to a robot arm's insertion policy, raising success at 0.05 mm clearance from 52% to 67%. The tactile signal feeds only the training critic, while the deployed policy relies mainly on vision, and peak interaction force falls 60% and peak torque falls 44%.
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Original title: CASIA Adds Fingertip Touch to Robot Insertion, Lifting 0.05 mm Clearance Success From 52% to 67%