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ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

High-precision connector insertion remains challenging for robotic systems due to tight mechanical tolerances, partial observability during contact, and multimodal uncertainty arising from occlusion and contact ambiguity. Successful insertion requires closed-loop contact guidance that continuously integrates global alignment cues with local contact feedback to produce stable corrective actions under interaction. In this work, we present ContactDP (Contact-Guided Diffusion Policy for Tight Insertion Tasks), a multimodal diffusion-policy framework for contact-rich insertion. ContactDP jointly in

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