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cs.RO2025★ 1 cited
Fabrica: Dual-Arm Assembly of General Multi-Part Objects via Integrated Planning and Learning
Yunsheng Tian, Joshua Jacob, Yijiang Huang +10
Multi-part assembly poses significant challenges for robots to execute long-horizon, contact-rich manipulation with generalization across complex geometries. We present Fabrica, a…
cs.RO2023
ASAP: Automated Sequence Planning for Complex Robotic Assembly with Physical Feasibility
Yunsheng Tian, Karl D. D. Willis, Bassel Al Omari +10
The automated assembly of complex products requires a system that can automatically plan a physically feasible sequence of actions for assembling many parts together. In this paper…