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cs.RO2023★ 1 cited
PolyFit: A Peg-in-hole Assembly Framework for Unseen Polygon Shapes via Sim-to-real Adaptation
Geonhyup Lee, Joosoon Lee, Sangjun Noh +3
The study addresses the foundational and challenging task of peg-in-hole assembly in robotics, where misalignments caused by sensor inaccuracies and mechanical errors often result…
cs.RO2023
Learning to Place Unseen Objects Stably using a Large-scale Simulation
Sangjun Noh, Raeyoung Kang, Taewon Kim +3
Object placement is a fundamental task for robots, yet it remains challenging for partially observed objects. Existing methods for object placement have limitations, such as the re…