Diffusion policies achieve 100% success on nominal mortise-tenon timber assembly and 75% average success under randomized 10 mm perturbations using force/torque sensing on an industrial robot.
Tolerance-aware design of robotically assembled spatial structures
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Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
Diffusion policies achieve 100% success on nominal mortise-tenon timber assembly and 75% average success under randomized 10 mm perturbations using force/torque sensing on an industrial robot.