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

arXiv · AI, language, vision and robotics · article · Sep 7, 2026 · UTC

Contact-rich assembly remains challenging because it requires submillimeter spatial accuracy and reliable interpretation of forces during sustained contact. Although simulation-based reinforcement learning offers a scalable training paradigm, discrepancies in visual observations, contact dynamics, and force/torque (F/T) measurements often limit policy transfer. We observe that proprioception is comparatively consistent across domains because joint positions are expressed in a shared calibrated coordinate system and joint velocities are computed consistently in simulation and on hardware. Based

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