Author

Abhishek Gupta

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Preprint Sep 2026

Visual Sim-to-Real Learning for Robotic Insertion under Geometric Variations: Application to Rebar Installation

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 levels: a nominal design per structural member, and fabrication tolerance around each nominal design. Real-world data therefore has to be re-...

Tao Sun, Bei-Ning Han, Patrick Yin et al. · 0 citations

#machine learning Preprint Sep 2026

Generalizable Robotic Insertion with World Models

Robotic assembly in high-mixture settings requires adaptable systems that can handle diverse parts, yet current approaches typically rely on policies specialized to each insertion task. Although this can reach high success rates, it makes the process of deploying systems for new problems tedious and time consuming. We...

Nicklas Hansen, Iretiayo Akinola, Yi-Jie Guo et al. · 0 citations