Integrating other sensing modalities, such as vision or proprioception, with tactile feedback can significantly enhance the robustness and performance of learned insertion policies. Vision sensors can provide complementary information about the environment, object poses, and potential obstacles, enabling the robot to make more informed decisions during manipulation tasks. Proprioceptive sensors, which provide feedback on the robot's joint angles and positions, can improve the overall awareness of the robot's body and enhance its ability to adapt to dynamic changes in the environment. By fusing data from multiple sensors, the robot can create a more comprehensive representation of the task, leading to more adaptive and efficient manipulation strategies.