← Back to Benchmarks
simmediumpolicy-learningmetric · varies
You're Pushing My Buttons: Instrumented Learning of Gentle Button Presses
Description
Learning contact-rich manipulation is difficult from cameras and proprioception alone because contact events are only partially observed. We test whether training-time instrumentation, i.e., object sensorisation, can improve policy performance without creating deployment-time dependencies. Specifically, we study button pressing as a testbed and use a microphone fingertip to capture contact-relevant audio. We use an instrumented button-state signal as privileged supervision to fine-tune an audio