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.
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