# Geometry-Aware Reinforcement Learning for Close-Fitting Wearable Insertion

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/h44157kzson6x0j7b5lkx68p5
- Original: https://arxiv.org/abs/2610.32143

## Summary

The paper formulates robot-assisted dressing as a geometry-aware insertion problem and proposes a reinforcement learning framework combining a staged curriculum with a finger-wise insertion soft gate. In post-training evaluation on the deformable bracelet task, the full method achieved a success rate of 84.7±1.2%, with the insertion gate contributing the most and the highest score when combined with the curriculum. On a dummy hand, the same policy succeeded in 15 of 20 real-robot trials.