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.
Physics-driven data generation for contact-rich manipulation via trajectory optimization, 2025,https://arxiv.org/abs/2502.2 0382
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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.