Author

Yurou Chen

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Preprint Sep 2026

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

PACE (Proprioception-Anchored Cross-Modal Encoder) is presented, which supervises temporal visual and F/T representations by predicting proprioceptive state transitions and is robust to perturbations that substantially degrade pose-based and learned-fusion baselines.

Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al. · 0 citations

#artificial intelligence Preprint Sep 2026

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

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...

Yu-Han Wang, Yurou Chen, Hong-Ye Jiang et al. · 0 citations