3 papers
cs.RO2026
Contact-Rich Robotic Assembly in Construction via Diffusion Policy Learning
Salma Mozaffari, Daniel Ruan, William van den Bogert +3
Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction,…
cs.RO2025
GrOMP: Grasped Object Manifold Projection for Multimodal Imitation Learning of Manipulation
William van den Bogert, Gregory Linkowski, Nima Fazeli
Imitation Learning (IL) holds great potential for learning repetitive manipulation tasks, such as those in industrial assembly. However, its effectiveness is often limited by insuf…
cs.RO2025
Built Different: Tactile Perception to Overcome Cross-Embodiment Capability Differences in Collaborative Manipulation
William van den Bogert, Madhavan Iyengar, Nima Fazeli
Tactile sensing is a widely-studied means of implicit communication between robot and human. In this paper, we investigate how tactile sensing can help bridge differences between r…