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Facet-0: a contact-aware foundation model for precise assembly

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Facet-0 predicts and values the contact consequences of actions, combining multimodal representation learning and RL post-training around joint action-wrench generation. On five sub-millimeter computer assembly tasks it reaches 82% mean success versus 15% for the strongest baseline, with 0.5 mm placement accuracy and 50 ms command latency.

VLAManuFacet-1KFacet-0PINE LabContact-Rich Manipulationprecise assemblyrobotic foundation modelForce controlrobotsdigestPrecision AssemblySubmillimeter OperationRobot foundation modelsForce-Synchronized Dataset
Category: industrial
Author: @robotsdigest
Date: 2026-09-02T00:00:00
Duration: 19.233s
Source: https://x.com/robotsdigest/status/2095166202448597502
Reference: https://arxiv.org/abs/2609.01596

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