arXiv AI
Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly
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Zero-Shot Sim-to-Real Contact-Rich Assembly via Proprioception-Anchored Cross-Modal Pretraining
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ForceFlow is a force-aware reactive framework that uses flow matching to improve contact-rich manipulation. It fuses force signals asymmetrically, treats force as a global regulator, and employs a joint prediction paradigm to couple force and motion. The approach splits tasks into a vision-dominant localization stage and a touch-dominant execution stage, using a Vision-to-Force handover to separate spatial generalization from contact regulation.