{
  "$schema": "https://themachinepress.com/schemas/story-v1.schema.json",
  "schema_version": "1.0.0",
  "document_type": "machine_press_story",
  "story": {
    "story_id": "mp-2026-09-22-009",
    "source_story_id": "tmp-story-robot-precision-insertion",
    "edition_id": "mp-2026-09-22-morning-0075",
    "edition_url": "https://themachinepress.com/edition/2026-09-22",
    "position": 9,
    "story_type": "dispatch",
    "section": "robotics",
    "editorial_classification": "editorial",
    "headline": "The Robot Felt Its Way Into a Tiny Opening",
    "slug": "the-robot-felt-its-way-into-a-tiny-opening",
    "dek": "Force feedback helped simulation-trained insertion policies handle tight tolerances.",
    "summary": "Force feedback helped simulation-trained insertion policies handle tight tolerances.",
    "body_text": "Researchers trained robotic insertion policies entirely in simulation, then deployed them on real hardware without demonstrations or fine-tuning. Their policies combine target poses with compact three-dimensional fingertip force feedback so the robot can search for alignment and correct position errors. Tests covered several hole geometries and a minimum nominal clearance of 0.02 millimeters; the authors report improved success and lower peak contact forces under hole-position errors. The claim is limited to the tested parts and setup, rather than arbitrary industrial assembly.",
    "why_it_matters": "Force feedback helped simulation-trained insertion policies handle tight tolerances.",
    "limitations": [],
    "importance": 8,
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-22-009/the-robot-felt-its-way-into-a-tiny-opening",
    "json_url": "https://themachinepress.com/story/mp-2026-09-22-009.json",
    "first_published_at": "2026-09-22T09:00:00.000-04:00",
    "modified_at": "2026-09-22T09:00:00.000-04:00",
    "content_status": "new",
    "is_carryover": false,
    "carryover_reason": null,
    "key_claims": [
      {
        "claim_id": "claim-mp-2026-09-22-009-001",
        "text": "Force feedback helped simulation-trained insertion policies handle tight tolerances.",
        "source_ids": [
          "source-2026-09-22-009"
        ],
        "qualification": null
      }
    ],
    "source_ids": [
      "source-2026-09-22-009"
    ],
    "tags": [
      "robot assembly",
      "force sensing",
      "simulation"
    ],
    "image_url": null,
    "corrections": []
  },
  "sources": [
    {
      "source_id": "source-2026-09-22-009",
      "title": "arXiv preprint 2609.24511",
      "publisher": "arXiv",
      "url": "https://arxiv.org/abs/2609.24511",
      "canonical_url": "https://arxiv.org/abs/2609.24511",
      "source_type": "primary_research",
      "is_primary_source": true,
      "published_at": "2026-09-21T08:51:29.000-04:00",
      "accessed_at": "2026-09-22T08:26:19.625-04:00",
      "supports_claim_ids": [
        "claim-mp-2026-09-22-009-001"
      ]
    }
  ],
  "corrections": [],
  "publisher": {
    "name": "The Machine Press",
    "url": "https://themachinepress.com",
    "description": "A daily newspaper for the age of artificial intelligence."
  },
  "cite_this_report": {
    "title": "The Robot Felt Its Way Into a Tiny Opening",
    "publisher": "The Machine Press",
    "published_at": "2026-09-22T09:00:00.000-04:00",
    "canonical_url": "https://themachinepress.com/story/mp-2026-09-22-009/the-robot-felt-its-way-into-a-tiny-opening"
  }
}