2 papers
cs.RO2026
Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation
Tao Sun, Beining Han, Patrick Yin +5
Rebar insertion is among the most repetitive and physically demanding tasks on construction sites, and a contact-rich problem at 1.4 mm clearance. The parts, however, vary at two l…
cs.RO2025
Procedural Generation of Articulated Simulation-Ready Assets
Abhishek Joshi, Beining Han, Jack Nugent +12
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 c…