Blind Precise Assembly: Proprioceptive Sim-to-Real Peg-in-Hole for Diverse Parts - 2026-10-16 - Research Publication - This work trains contact-rich assembly policies using only proprioceptive joint histories. A policy trained entirely in simulation transfers to physical peg insertion without cameras, force sensing or real-world fine-tuning. - source: arxiv.org
ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation - 2026-10-13 - Research Publication - ForceWAM separates future prediction from force-aware response learning using task demonstrations and play data. Physical experiments on Flexiv Rizon 4S test contact-rich sliding, box flipping and Hanoi-ring manipulation. - source: arxiv.org
Getting Out and Getting Back: World and Behavior Grounding in Real2Sim2Real Co-Training - 2026-09-30 - Research Publication - This Industrial Next and Cambridge study separates physical-world fidelity from human-motion fidelity in simulation co-training. A dual Flexiv Rizon 4S setup with Wuji Hand 2 performs conveyor pick-and-sort. For the 500M… - source: arxiv.org