2 papers
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…
cs.RO2026
Perception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF
Allen Tao, Jun Yang, Stanko Oparnica +1
Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence…