[Animats]

It's hard for me to compare precisely, especially since the Intrinsic videos are sped up

Here's a longer version in a larger size, either not sped up or not sped up so much.[1] It's using a simple strategy of approaching the socket at an slightly off angle and then twisting into alignment.

That's a standard strategy. Compare this video of assembling Lego blocks with an industrial robot. Note the little twist moves.[2]

Did the machine learning come up with that, or was it preprogrammed? Did ML re-invent remote center compliance? That would be progress.

Rod Brooks went down this road with Rethink Robotics. They went bust.

You can certainly do what they're showing. It's making a profit on it that's hard.

[1] https://www.youtube.com/watch?v=M3cmDLgA2nM

[2] https://youtu.be/BNP74352vhg