Article

Blind assembly strategy: peg-in-hole assembly of diverse parts using proprioception alone

This study trains blind assembly policies that observe only joint positions, velocities, and a short history of their own actions, without using visual, force, torque, or tactile sensing, and uses reinforcement learning in simulation to complete peg insertion, gear meshing, and nut tightening. The peg insertion policy transfers zero-shot to the real world and successfully inserts pegs of different shapes and sizes in 73% of trials; controlled experiments show that the blind policy generalizes better to unseen part shapes and sizes but may be slower.

Part of the event: Blind assembly policy simulation training achieves 73% real-world peg insertion success rate

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