Can a robot assemble tight-clearance parts using only its proprioception? No camera, no tactile sensor, no F/T sensor, no joint torque sensing, no priors over the object geometries or poses: just joint position readings. It actually can! Blind policies trained in simulation insert pegs, mesh gears, and thread nuts, and the peg policy works zero-shot in the real world. Here's what we found 🧵 Joint work with @BronarsToni, my wonderful co-first author, who's on the job market right now! Advised by @kushalk_ and @pulkitology.
