Preprint Open access
Self-Supervised Anchoring of Fingertip Sensing to Proprioception and Proactive Actions for Robot Imitation Learning
Robotic imitation learning often relies on external cameras, yet local interaction cues such as object proximity, contact onset, and grasp state are difficult to observe near the fingertips because of occlusion and limited temporal resolution. We study how to effectively incorporate complementary fingertip sensing into …