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How does Figure 03 know if the washer is actually on? I know it has tactile sensors on its fingers but if it tried to press the button and missed how would it know? I know it's probably not by sound.

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I’m sure the sensor signals look different when you press a button vs when you hit a wall. Enough that it could certainly be learned by a model

Why not? It has microphones.

I assume that with whatever onboard audio model they use, it can only handle conversational type audio.

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