robotics
Touch Improved the Forecast. Force Safety Still Lagged
A simulated lifting policy reached 93.3 percent task success after reward revision, but only 33.3 percent within its force budget.
Summary
A simulated lifting policy reached 93.3 percent task success after reward revision, but only 33.3 percent within its force budget.
A compact visuotactile world model cut simulated endpoint-force prediction error from 1.058 to 0.228 newtons, yet a simple tactile-persistence baseline remained better. After revising the reward on fresh simulated environments, ten-centimeter lifting success rose from 20.0 to 93.3 percent, while only 33.3 percent of runs stayed within an eight-newton per-finger limit, compared with 70.0 percent under direct force feedback. Separate GelSight analysis showed trajectory-level calibration covering 87.36 percent of complete recordings at a nominal 90 percent. The sensing and simulator studies were not transferred into one physical robot demonstration.
Why it matters
A simulated lifting policy reached 93.3 percent task success after reward revision, but only 33.3 percent within its force budget.
Limits and context
- After revising the reward on fresh simulated environments, ten-centimeter lifting success rose from 20.0 to 93.3 percent, while only 33.3 percent of runs stayed within an eight-newton per-finger limit, compared with 70.0 percent under direct force feedback.
- The sensing and simulator studies were not transferred into one physical robot demonstration.
Key claims
A simulated lifting policy reached 93.3 percent task success after reward revision, but only 33.3 percent within its force budget.
Qualification: After revising the reward on fresh simulated environments, ten-centimeter lifting success rose from 20.0 to 93.3 percent, while only 33.3 percent of runs stayed within an eight-newton per-finger limit, compared with 70.0 percent under direct force feedback.
Evidence: source-2026-09-10-010
Sources
- arXiv preprint 2609.09597arXiv · primary research
Corrections
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