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.
Built different: Tactile percep- tion to overcome cross-embodiment capability differences in collabora- tive manipulation, 2024,https://arxiv.org/abs/2409.14896
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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.