most citedSelf-Guided Instance-Aware Network for Depth Completion and Enhancement

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cs.RO2026

SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy

Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis +5

Contact-rich assembly is fundamental in robotics but poses significant challenges due to uncertainties in relative poses, such as misalignments and small clearances in peg-in-hole…