Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

arXiv:2609.07534 · cs.RO, cs.AI · Submitted 2026-09-07 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-09-07

Updated: 2026-09-16

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 1× in this paper · explained in 1 episode
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Proprioception-Anchored Cross-Modal Encoder — 1× in this paper
• Reinforcement Learning — 1× in this paper · explained in 4 episodes

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