Blind Precise Assembly: Proprioceptive Sim-to-Real Peg-in-Hole for Diverse Parts

Abstract

Every robot already carries high-resolution contact sensors: its own joints. Legged robots and humanoids exploit them to walk, run, and track whole-body motions without vision, but there the contacts are large and forceful. Is joint sensing also enough for precise, contact-rich assembly, where the robot must find a millimeter-scale opening, mesh gear teeth, or catch a thread through light contact? We study this question by training blind assembly policies that observe only a short history of joint positions, velocities, and their own actions, without visual, force, torque, or tactile sensing. The poses of both the fixture and the part are unknown to the policy, and the grasp is randomized substantially. The policy must therefore assemble the parts through contact, sensed exclusively through its own proprioception. Trained with reinforcement learning entirely in simulation over randomized parts, grasps, and contacts, such policies learn peg insertion, gear meshing, and nut threading. The peg insertion policy transfers zero-shot to the real world and inserts pegs of different shapes and sizes in 73% of trials. Controlled comparisons with matched visual policies in simulation show that blind policies generalize far better to unseen part shapes and sizes, though they can be slower. Training such policies needs thousands of different assemblies, each simulated with its clearance intact, so we also release an open-source generator that builds them procedurally from exact convex pieces for MuJoCo; it is more accurate and faster than convex decomposition or MuJoCo's signed-distance collision. Videos and interactive simulations are at https://younghyopark.me/blind-proprioceptive-assembly/.