Zero-Shot Transfer of Haptics-Based Object Insertion Policies
Samarth Brahmbhatt,Ankur Deka,Andrew Spielberg,Matthias Müller,Samarth Brahmbhatt,Ankur Deka,Andrew Spielberg,Matthias Müller
Humans naturally exploit haptic feedback during contact-rich tasks like loading a dishwasher or stocking a bookshelf. Current robotic systems focus on avoiding unexpected contact, often relying on strategically placed environment sensors. Recently, contact-exploiting manipulation policies have been trained in simulation and deployed on real robots. However, they require some form of real-world ada...
