3 papers
cs.RO2026
From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly
Lin He, Yanyi Chen, Haofei Sun +2
Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces th…
cs.RO2026
Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion
Lin He, Min Deng
In robotic insertion under uncertain contact, the axial force limit and the appropriate controller gain vary across tasks. As a result, a single fixed gain is unlikely to remain su…
cs.RO2025
DiSA-IQL: Offline Reinforcement Learning for Robust Soft Robot Control under Distribution Shifts
Linjin He, Xinda Qi, Dong Chen +2
Soft snake robots offer remarkable flexibility and adaptability in complex environments, yet their control remains challenging due to highly nonlinear dynamics. Existing model-base…