# CAS Institute of Automation and Paxini collaborative study: tactile-enhanced reinforcement learning achieves sub-millimeter precision assembly

- Source: 机器人daily · 微信公众号
- Published: 2026-10-30T09:43:53.000Z
- RoboHot: https://robohot.news/en/items/rjzmdv671j29rjvv2xvfwk6vw
- Original: https://mp.weixin.qq.com/s?__biz=MzkyMjIyMjUyMQ==&mid=2247488122&idx=1&sn=8cc05d04652fe02d9cf29c9d93767e63&chksm=c099fd540d4cedf29c91e1a6bbe0300efcad2dccc8664f4bfbb2882eaa23ea74cef80966e933&scene=126&sessionid=1793357494#rd

## Summary

A team led by Cheng Long at the Institute of Automation, Chinese Academy of Sciences, published research at IROS 2026 using tactile-enhanced reinforcement learning to improve the success rate and stability of sub-millimeter precision insertion. The approach first uses Diffusion Policy imitation learning to reach the hole opening, then SAC reinforcement learning to complete the insertion, and handles real-world tactile noise through tactile baseline compensation and balanced sampling grouped by torque.