Preprint
Aug 2026
Contact-Rich Robotic Manipulation in Construction via Zero-Shot Learning: A Diffusion Policy-Guided Adaptive Control
Construction robotics and automation offer promising means of improving productivity, alleviating workforce shortages, and reducing workers'exposure to physically demanding tasks. However, reliable contact-rich robotic assembly remains challenging under tight tolerances, fabrication inaccuracies, and uncertain contact...
R. Ibrahimov, S. Mozaffari, Arash Adel
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