לימוד עצמאי ללא-שוט באסמבלים עם תצפיות וכוחות

תקציר מקורי באנגליתarXiv:2609.07534v2 Announce Type: replace-cross Abstract: Contact-rich assembly remains challenging because it requires submillimeter spatial accuracy and reliable interpretation of forces during sustained contact. Although simulation-based reinforcement learning offers a scalable training paradigm, discrepancies in visual observations, contact dynamics, and force/torque (F/T) measurements often limit policy transfer. We observe that proprioception is comparatively consistent across domains because joint positions are expressed in a shared calibrated coordinate system and joint velocities are computed consistently in simulation and on hardware. Based on this observation, we present PACE (Proprioception-Anchored Cross-Modal Encoder), which supervises temporal visual and F/T representations