Manya Xu

CG-THWM: Curriculum-Guided Temporal Haptic World Modeling for Peg-In-Hole Tasks

Fine-tolerance peg-in-hole manipulation demands high precision under contact-rich, nonsmooth dynamics, where irregular geometries, inclinations, and tight-clearance interference often cause model-free reinforcement learning (RL) to fail. We propose the Curriculum-Guided Temporal Haptic World Model (…