From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances

arXiv:2605.04649 · cs.RO · Submitted 2026-05-06 · Read on arXiv

cs.RO

Submitted: 2026-05-06

Updated: 2026-09-23

Terminology

• Reinforcement Learning — 21× in this paper · explained in 4 episodes
• Actor — 15× in this paper · explained in 3 episodes
• Generalization — 10× in this paper · explained in 13 episodes
• Imitation Learning — 8× in this paper
• Alignment — 6× in this paper · explained in 1 episode
• Robustness — 6× in this paper · explained in 5 episodes
• Human-in-the-Loop — 5× in this paper · explained in 3 episodes
• Monte Carlo — 4× in this paper
• Reinforcement Learning (RL) — 4× in this paper · explained in 25 episodes
• Sample Efficiency — 4× in this paper · explained in 4 episodes
• Soft Actor-Critic — 4× in this paper
• Soft Actor-Critic (SAC) — 4× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Fine-Tuning — 3× in this paper · explained in 5 episodes
• Core — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Imitation Learning (IL) — 2× in this paper · explained in 2 episodes
• Two-Stage Framework — 2× in this paper · explained in 2 episodes
• Active Inference — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Online Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Regularization — 1× in this paper · explained in 3 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Reward Function — 1× in this paper · explained in 2 episodes
• Two-stage training — 1× in this paper · explained in 2 episodes

Sources

• Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
• Touch begins where vision ends: Generalizable policies for contact-rich manipulation
• Tactile-based Active Inference for Force-Controlled Peg-in-Hole Insertions
• VLA-Touch: Enhancing Vision-Language-Action Models with Dual-Level Tactile Feedback
• TLA: Tactile-Language-Action Model for Contact-Rich Manipulation
• Dexterity from Touch: Self-Supervised Pre-Training of Tactile Representations with Robotic Play

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