A dual-arm robotic system combining hierarchical planning with equivariant residual RL policies demonstrates multi-part assembly of five-to-nine-part objects, with strong step-level but weaker end-to-end real-world success.
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Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
A dual-arm robotic system combining hierarchical planning with equivariant residual RL policies demonstrates multi-part assembly of five-to-nine-part objects, with strong step-level but weaker end-to-end real-world success.