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What is the Better Curriculum: Controller-Shaped Grasping Behavior for Contact Force-Sensitive Manipulation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

How should a robot learn to manipulate objects so fragile that sub-Newton contact forces can cause irreversible damage? Existing visuo-tactile policy learning typically treats tactile sensing as an additional policy input. In direct-contact force-sensitive manipulation, however, the bottleneck can arise earlier, during data collection: manual gripper control is too delayed and coarse-grained to reliably maintain the narrow force range required for stable grasping. We therefore use a deterministic 25 Hz tactile reflex controller as a collection-time teacher, producing demonstrations with contro

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