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Robotic assembly is a longstanding challenge, requiring contact-rich interaction and high precision and accuracy.
Using compliance in lieu of sensory feedback for automatic assembly
Samuel Hunt Drake · 1978
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Quasi-static assembly of compliantly supported rigid parts
Daniel E Whitney et al · 1982
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Automatic synthesis of fine-motion strategies for robots
Tomas Lozano-Pérez, Matthew T Mason, and Russell H Taylor · 1984
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A new technique for fully autonomous and efficient 3D robotics hand/eye calibration
Roger Y Tsai and Reimar K Lenz · 1989
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Mechanics of Robotic Manipulation
Matthew T Mason · 2001
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Mechanical Assemblies: Their Design, Manufacture, and Role in Product Development
Daniel E. Whitney · 2004
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Dynamic analysis for peg-in-hole assembly with contact deformation
Yanchun Xia, Yuehong Yin, and Zhaoneng Chen · 2006
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Curriculum learning
Yoshua Bengio, Jérôme Louradour, Ronan Collobert, and Jason Weston · 2009
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Fast peg-and-hole alignment using visual compliance
Shouren Huang, Kenichi Murakami, Yuji Yamakawa, Taku Senoo, and Masatoshi Ishikawa · 2013
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Microsoft COCO: Common objects in context
Tsung-Yi Lin, Michael Maire, Serge Belongie, James Hays, Pietro Perona, Deva Ramanan, Piotr Dollár, and C Lawrence Zitnick · 2014
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Autonomous alignment of peg and hole by force/torque measurement for robotic assembly
Te Tang, Hsien-Chung Lin, Yu Zhao, Wenjie Chen, and Masayoshi Tomizuka · 2016
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Mask R-CNN
Kaiming He, Georgia Gkioxari, Piotr Dollár, and Ross Girshick · 2017
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Deep reinforcement learning for high precision assembly tasks
Tadanobu Inoue, Giovanni De Magistris, Asim Munawar, Tsuyoshi Yokoya, and Ryuki Tachibana · 2017
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Asymmetric actor critic for image-based robot learning
Lerrel Pinto, Marcin Andrychowicz, Peter Welinder, Wojciech Zaremba, and Pieter Abbeel · 2017
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Proximal policy optimization algorithms
John Schulman, Filip Wolski, Prafulla Dhariwal, Alec Radford, and Oleg Klimov · 2017
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GelSight: High-resolution robot tactile sensors for estimating geometry and force
Wenzhen Yuan, Siyuan Dong, and Edward H Adelson · 2017
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Sim-to-real transfer of robotic control with dynamics randomization
Xue Bin Peng, Marcin Andrychowicz, Wojciech Zaremba, and Pieter Abbeel · 2018
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Learning robotic assembly from CAD
Garrett Thomas, Melissa Chien, Aviv Tamar, Juan Aparicio Ojea, and Pieter Abbeel · 2018
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Leveraging demonstrations for deep reinforcement learning on robotics problems with sparse rewards
Mel Vecerik, Todd Hester, Jonathan Scholz, Fumin Wang, Olivier Pietquin, Bilal Piot, Nicolas Heess, Thomas Rothörl, Thomas Lampe, and Martin Riedmiller · 2018
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Solving Rubik’s cube with a robot hand
Ilge Akkaya, Marcin Andrychowicz, Maciek Chociej, Mateusz Litwin, Bob McGrew, Arthur Petron, Alex Paino, Matthias Plappert, Glenn Powell, Raphael Ribas, Jonas Schneider, Nikolas Tezak, Jerry Tworek, Peter Welinder, Lilian Weng, Qiming Yuan, Wojciech Zaremba, and Lei Zhang · 2019
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A learning framework for high precision industrial assembly
Yongxiang Fan, Jieliang Luo, and Masayoshi Tomizuka · 2019
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Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization
Claudio Gaz, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, and Alessandro De Luca · 2019
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Residual reinforcement learning for robot control
Tobias Johannink, Shikhar Bahl, Ashvin Nair, Jianlan Luo, Avinash Kumar, Matthias Loskyll, Juan Aparicio Ojea, Eugen Solowjow, and Sergey Levine · 2019
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Reinforcement learning on variable impedance controller for high-precision robotic assembly
Jianlan Luo, Eugen Solowjow, Chengtao Wen, Juan Aparicio Ojea, Alice M. Agogino, Aviv Tamar, and Pieter Abbeel · 2019
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Jieliang Luo and Hui Li · 2019
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Assessing transferability from simulation to reality for reinforcement learning
Fabio Muratore, Michael Gienger, and Jan Peters · 2019
Cited alongside, same era.
A practical approach to insertion with variable socket position using deep reinforcement learning
Mel Vecerik, Oleg Sushkov, David Barker, Thomas Rothorl, Todd Hester, and Jon Scholz · 2019
Cited alongside, same era.
Jing Xu, Zhimin Hou, Zhi Liu, and Hong Qiao · 2019
Cited alongside, same era.
Learning dexterous in-hand manipulation
Marcin Andrychowicz, Bowen Baker, Maciek Chociej, Rafal Józefowicz, Bob McGrew, Jakub Pachocki, Arthur Petron, Matthias Plappert, Glenn Powell, Alex Ray, Jonas Schneider, Szymon Sidor, Josh Tobin, Peter Welinder, Lilian Weng, and Wojciech Zaremba · 2020
Cited alongside, same era.
Variable compliance control for robotic peg-in-hole assembly: A deep-reinforcement-learning approach
Cristian C. Beltran-Hernandez, Damien Petit, Ixchel G. Ramirez-Alpizar, and Kensuke Harada · 2020
Learning sequences of manipulation primitives for robotic assembly
Nghia Vuong, Hung Pham, and Quang-Cuong Pham · 2021
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Learning dense rewards for contact-rich manipulation tasks
Zheng Wu, Wenzhao Lian, Vaibhav Unhelkar, Masayoshi Tomizuka, and Stefan Schaal · 2021
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Xiang Zhang, Shiyu Jin, Changhao Wang, Xinghao Zhu, and Masayoshi Tomizuka · 2021
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i-sim2real: Reinforcement learning of robotic policies in tight human-robot interaction loops
Saminda Abeyruwan, Laura Graesser, David B D’Ambrosio, Avi Singh, Anish Shankar, Alex Bewley, and Pannag R Sanketi · 2022
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Transferring dexterous manipulation from GPU simulation to a remote real-world TriFinger
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Cited alongside, same era.
Benchmarking protocols for evaluating small parts robotic assembly systems
Kenneth Kimble, Karl Van Wyk, Joe Falco, Elena Messina, Yu Sun, Mizuho Shibata, Wataru Uemura, and Yasuyoshi Yokokohji · 2020
Cited alongside, same era.
Digit: A novel design for a low-cost compact high-resolution tactile sensor with application to in-hand manipulation
Mike Lambeta, Po-Wei Chou, Stephen Tian, Brian Yang, Benjamin Maloon, Victoria Rose Most, Dave Stroud, Raymond Santos, Ahmad Byagowi, Gregg Kammerer, Dinesh Jayaraman, and Roberto Calandra · 2020
Cited alongside, same era.
Local optimization for robust signed distance field collision
Miles Macklin, Kenny Erleben, Matthias Müller, Nuttapong Chentanez, Stefan Jeschke, and Zach Corse · 2020
Cited alongside, same era.
Meta-reinforcement learning for robotic industrial insertion tasks
Gerrit Schoettler, Ashvin Nair, Juan Aparicio Ojea, Sergey Levine, and Eugen Solowjow · 2020
Cited alongside, same era.
Learning to scaffold the development of robotic manipulation skills
Lin Shao, Toki Migimatsu, and Jeannette Bohg · 2020
Cited alongside, same era.
Sim-to-real transfer of bolting tasks with tight tolerance
Dongwon Son, Hyunsoo Yang, and Dongjun Lee · 2020
Cited alongside, same era.
Deep reinforcement learning for contact-rich skills using compliant movement primitives
Oren Spector and Miriam Zacksenhouse · 2020
Cited alongside, same era.
Arthur Allshire, Mayank Mittal, Varun Lodaya, Viktor Makoviychuk, Denys Makoviichuk, Felix Widmaier, Manuel Wüthrich, Stefan Bauer, Ankur Handa, and Animesh Garg · 2022
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Contact and friction simulation for computer graphics
Sheldon Andrews, Kenny Erleben, and Zachary Ferguson · 2022
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Safely learning visuo-tactile feedback policies in real for industrial insertion
Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, and Sachin Chitta · 2022
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The Franka Emika robot: A reference platform for robotics research and education
Sami Haddadin, Sven Parusel, Lars Johannsmeier, Saskia Golz, Simon Gabl, Florian Walch, Mohamadreza Sabaghian, Christoph Jähne, Lukas Hausperger, and Simon Haddadin · 2022
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DeXtreme: Transfer of agile in-hand manipulation from simulation to reality
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, and Gavriel State · 2022
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Performance measures to benchmark the grasping, manipulation, and assembly of deformable objects typical to manufacturing applications
Kenneth Kimble, Justin Albrecht, Megan Zimmerman, and Joe Falco · 2022
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Reinforcement learning of impedance policies for peg-in-hole tasks: Role of asymmetric matrices
Shir Kozlovsky, Elad Newman, and Miriam Zacksenhouse · 2022
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Affine body dynamics: Fast, stable & intersection-free simulation of stiff materials
Lei Lan, Danny M Kaufman, Minchen Li, Chenfanfu Jiang, and Yin Yang · 2022
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Real2sim2real: Self-supervised learning of physical single-step dynamic actions for planar robot casting
Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, and Ken Goldberg · 2022
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Warp: A High-performance Python Framework for GPU Simulation and Graphics
Miles Macklin · 2022
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rl-games: A High-performance Framework for Reinforcement Learning
Denys Makoviichuk and Viktor Makoviychuk · 2022
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Rapid locomotion via reinforcement learning
Gabriel B Margolis, Ge Yang, Kartik Paigwar, Tao Chen, and Pulkit Agrawal · 2022
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Factory: Fast contact for robotic assembly
Yashraj Narang, Kier Storey, Iretiayo Akinola, Miles Macklin, Philipp Reist, Lukasz Wawrzyniak, Yunrong Guo, Adam Moravanszky, Gavriel State, Michelle Lu, et al · 2022
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Taxim: An example-based simulation model for GelSight tactile sensors
Zilin Si and Wenzhen Yuan · 2022
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InsertionNet 2.0: Minimal contact multi-step insertion using multimodal multiview sensory input
Oren Spector, Vladimir Tchuiev, and Dotan Di Castro · 2022
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Assemble them all: Physics-based planning for generalizable assembly by disassembly
Yunsheng Tian, Jie Xu, Yichen Li, Jieliang Luo, Shinjiro Sueda, Hui Li, Karl DD Willis, and Wojciech Matusik · 2022
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Tacto: A fast, flexible, and open-source simulator for high-resolution vision-based tactile sensors
Shaoxiong Wang, Mike Lambeta, Po-Wei Chou, and Roberto Calandra · 2022
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You only demonstrate once: Category-level manipulation from single visual demonstration
Bowen Wen, Wenzhao Lian, Kostas Bekris, and Stefan Schaal · 2022
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Efficient tactile simulation with differentiability for robotic manipulation
Jie Xu, Sangwoon Kim, Tao Chen, Alberto Rodriguez Garcia, Pulkit Agrawal, Wojciech Matusik, and Shinjiro Sueda · 2022
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Jaemin Yoon, Minji Lee, Dongwon Son, and Dongjun Lee · 2022
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Offline meta-reinforcement learning for industrial insertion
Tony Z Zhao, Jianlan Luo, Oleg Sushkov, Rugile Pevceviciute, Nicolas Heess, Jon Scholz, Stefan Schaal, and Sergey Levine · 2022
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