Robotic Assembly

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Overview

Robotic assembly spans recognizing parts and their relationships, planning feasible sequences and motions, and controlling robots as components make contact. Common approaches combine CAD-based or symbolic planning with imitation learning and reinforcement learning; vision-language models help interpret instructions, while force, tactile, and compliant control guide precise insertion and recovery. Systems are tested on tasks such as peg-in-hole and connector insertion, NIST assembly boards, and longer furniture, industrial, and construction assemblies, often with human or multiple robots. Precise, short tasks can be reliable, but generalizing to unfamiliar parts and completing long sequences remains difficult because small perception or execution errors compound, and simulation performance may not transfer to hardware.

Latest papers

CardsList

88 papers13 papers in the last four weeks, down 35% on the four weeks before. 0.1% of all new papers.

  1. Robotic Budding: From Homogeneous Cells to Diverse Morphologies in Physical Self-Reproduction

    Oct 22, 2026Siyuan Zhang, Junyan Liu, Wanglin He +1RoboticsModular Robotics

    Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA.

  2. JARVIS: From Visual Manuals to Autonomous Robotic Assembly

    Oct 20, 2026Fan Ding, Fucai Ke, Kevin Yuchen Ma +5Robotic AssemblyLong-Horizon Robotic Manipulation

    A*STAR Institute of Advanced Intelligence and Computing · Monash University · National University of Singapore +1

  3. Towards Autonomous Bricklaying Using Boston Dynamics Spot

    Oct 20, 2026Karl-Johan Sorensen, Nico vom Hofe, Frank H. P. FitzekRobotic ConstructionRobotic Assembly

    Department of Architecture, Massachusetts Institute of Technology, United States · Deutsche Telekom Chair of Communication Networks, TU Dresden, Germany · Centre for Tactile Internet with Human-in-the-Loop (CeTI), Dresden, Germany

  4. Blind Precise Assembly: Proprioceptive Sim-to-Real Peg-in-Hole for Diverse Parts

    Oct 16, 2026Antonia Bronars, Younghyo Park, Kushal Kedia +1Robotic AssemblyRobotic Manipulation

    Massachusetts Institute of Technology

  5. PhySGA: A Physics-Space Grounded Agentic Framework for Generalizable and Interactive 3D Composition

    Oct 14, 2026Weichen Lyu, Chong Xia, Mingyu Dong +33D Scene GenerationRobotic Assembly

    Tsinghua University · Zhejiang University

  6. LABIT: Long-Horizon Robotic Assembly Benchmark for Industrial Tasks

    Oct 12, 2026Constantin Schempp, Christian Friedrich, Luca Kofler +1Robotic AssemblyLong-Horizon Robotic Manipulation

    Institute for Robotics and Intelligent Production Systems, University of Applied Sciences Karlsruhe (HKA), Moltkestraße 30, Karlsruhe, 76133, Germany

  7. AlphaNIST: Emergent Assembly Skills from Binary Task Rewards

    Oct 9, 2026Octi Zhang, Iretiayo Akinola, Rosario Scalise +12Robotic AssemblyLong-Horizon Robotic Manipulation

    NVIDIA · University of Washington

  8. On-Demand Robotic Assembly via Differentiable Geometric Part Repair

    Oct 7, 2026Millicent Schlafly, Fabio Schaub, Diogo Costa Pais +5Robotic AssemblyRobotic Construction

    ETH Zurich, Zurich, Switzerland

  9. MCFR: A Mask-Guided Coarse-to-Fine Regression Framework for Robust Multi-Variant Board-to-Board Connector Assembly

    Oct 7, 2026Guanghui Shen, Song Wang, Dan WuRobotic InsertionRobotic Assembly

    Department of Mechanical Engineering, Tsinghua University, Beijing, China

  10. AssemState: Manual and Physical-State-Guided Reasoning for Zero-shot Furniture Assembly

    Oct 6, 2026Zhiyuan Qi, Jierui Li, Yifan Shen +2Robotic Assembly3D Spatial Reasoning

    Tsinghua University · University of Illinois Urbana-Champaign · Xidian University

  11. Seeing Through the Displaced Frame: Privileged Noise Distillation for Vision-Force Precision Assembly

    Oct 6, 2026Ching-Hsiang Chang, Tzu-Yu Chuang, Yi-Hsiu Lee +3Robotic ManipulationForce-Controlled Robotic Manipulation

    National Tsing Hua University, Hsinchu, Taiwan. · National Yang Ming Chiao Tung University, Hsinchu, Taiwan.

  12. ScaffoldM3C: A Multimodal Sequential Monte Carlo Framework for Generative Stable Construction Planning

    Sep 30, 2026Gadiel Sznaier Camps, Chengyang He, Guillaume Sartoretti +2Robotic ConstructionMultimodal Generation

    Multi-robot Systems Lab (MSL), Stanford University, Stanford, CA, USA · Multi-Agent Robotic Motion Lab (MARMot), National University of Singapore, Singapore · Perception-Oriented Control Team (POC), Universidad de Zaragoza, Zaragoza, Spain

  13. AssemblyWorld: Rethinking 3D Assembly with General-Purpose Agents

    Sep 30, 2026Jiahao Zhang, Yeying Fan, Moitreya Chatterjee +5Robot Manipulation BenchmarksRobotic Assembly

    The Australian National University · Tsinghua University · Mitsubishi Electric Research Laboratories (MERL) +1

  14. Learning to Leverage Compliance: A Policy-Admittance Learning Framework for Robotic Insertion

    Sep 25, 2026Chongren Wang, Minghe Li, Honghua Dai +3Robotic InsertionRobot Policy Learning

    School of Astronautics and the National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University

  15. WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning

    Sep 24, 2026Valentin N. Hartmann, Huang Su, Yijiang Huang +1Multi-Robot Motion PlanningRobot Task Planning

    Computational Robotics Lab, ETH Zurich, CH

  16. VGM-VS: Rethinking Visual Geometry Model for High-Precision Visual Servoing

    Sep 23, 2026Yimin Pan, Sen Wang, You Zhou +4Relative Pose EstimationHand-Eye Calibration

    All authors are with Agile Robots SE, Munich, Germany. · Technical University of Munich

  17. BrickCraft-Duo: Efficient Dual-Arm Skill Learning and Refinement for Compositional Long-Horizon Assembly

    Sep 23, 2026Jichuan Yu, Zhenyu Xiao, Ze Wang +3Robotic AssemblyLong-Horizon Robotic Manipulation

    Tsinghua University · Carnegie Mellon University

  18. Generalizable Robotic Insertion with World Models

    Sep 23, 2026Nicklas Hansen, Iretiayo Akinola, Yijie Guo +7Zero-Shot Robotic ManipulationWorld Models for Robotics

    NVIDIA · University of California San Diego · Work completed during an internship at NVIDIA +1

  19. Skill Sequence Planning for Collaborative Multi-Robot Construction

    Sep 22, 2026Xi Wang, Bo Fu, Carol C. Menassa +2Robotic ConstructionMulti-Robot Coordination

    Department of Construction Science, Texas A&M University, College Station, TX 77843, USA · Amazon Robotics, North Reading, MA 01864, USA · Department of Civil and Environmental Engineering, University of Michigan, MI 48109, USA +1

  20. CAST: Collision-Aware Assembly with Construction Robots using Simultaneous Trajectory Estimation and Planning

    Sep 21, 2026Karthik Shaji, Chisung Kim, John D'Amato +2Multi-Robot Motion PlanningRobotic Construction

    Daniel Guggenheim School of Aerospace Engineering, Georgia Institute of Technology, Atlanta 30332, USA · School of Civil and Environmental Engineering, Georgia Institute of Technology, Atlanta 30332, USA · Institute of Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta 30332, USA

  21. Task aware Dynamic Movement Primitives for failure detection and recovery in contact rich manipulation

    Sep 19, 2026Bhavnashri A, Sobia Shafi, Krishnapuram Himavarshini +1Robotic ManipulationContact-Rich Robotic Manipulation

    Atomberg Technologies Limited, India · Indian Institute of Technology Madras (IITM), India · Appian Corporation, India

  22. A Reconfigurable Dual-Opposition Architecture for Single-Hand Assembly and Manipulation

    Sep 19, 2026William Su, Yunosuke Nakamura, Yixiao Wang +6Robotic Hand DesignIn-Hand Manipulation

    Aerospace Engineering Program, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720, USA. · Department of Mechanical Engineering, National University of Singapore, Singapore 117575.

  23. REBOOT: From Failure to Recovery - A Dataset and Benchmark for Precision Assembly

    Sep 18, 2026Nana Yaw Owusu Ofori-Ampofo, Samira Ebrahimi Kahou, Joseph ThekinenRobot Manipulation BenchmarksRobot Manipulation Datasets

    University of Calgary · University of Calgary, Mila

  24. INSPECT: Learning Robot View Selection from Assistant Use

    Sep 17, 2026Di Wen, Kailun Yang, Wenhao Guo +7Active PerceptionRobotic Inspection

    Karlsruhe Institute of Technology, Karlsruhe 76131, Germany · Hunan University, Changsha 410012, China · Independent Researcher

  25. CAD-Based Relation Learning and Geometric-Symbolic Planning for Robotic Assembly

    Sep 15, 2026Fabian Harlacher, Christian FriedrichSymbolic PlanningRobot Task Planning

    Institute for Robotics and Intelligent Production Systems, Karlsruhe University of Applied Sciences (HKA), Moltkestraße 30, Karlsruhe, 76133, Baden-Württemberg, Germany

  26. A Vision Based Framework Integrating Attention and Action Cues for Interpretable Cognitive Workload Assessment in Human-Robot Collaborative Assembly

    Sep 14, 2026Junyan Xiong, Naiyi Feng, Xingke Xia +3Human-Robot CollaborationRobotic Assembly

    Smart Manufacturing Thrust, System Hub, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China · College of Future Technology, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China

  27. Assembling Two Parts in One Hand

    Sep 9, 2026Liuao Pei, Tianyue Wu, Hui Zhang +2RL for RoboticsDexterous Manipulation

    The University of Hong Kong · The Hong Kong University of Science and Technology (Guangzhou) · ETH Zurich +1

  28. Proprioception-Anchored Cross-Modal Pretraining for Zero-Shot Sim-to-Real Contact-Rich Assembly

    Sep 7, 2026Yuhan Wang, Yurou Chen, Hongye Jiang +2RL for RoboticsCross-Modal Representation Learning

    Shanghai Jiao Tong University · University of Sussex

  29. State-of-the-Art in Learning-by-Demonstration with Passive Observation for Industrial Assembly Automation

    Sep 7, 2026David Koetter, Oliver Petrovic, Christian BrecherGeneralization in Robotic ManipulationImitation Learning

    RWTH Aachen University, Laboratory for Machine Tools and Production Engineering, Steinbachstraße 19, 52074 Aachen, Germany · Fraunhofer Intitute for Production Technology IPT, Steinbachstraße 17, 52074 Aachen, Germany

  30. Knowledge-Guided Hierarchical Policy Learning for High-Precision Cylindrical Assembly under Tight Tolerances

    Sep 6, 2026Binbin Lian, Xinyu Liu, Tao SunRobotic AssemblyHierarchical RL

    Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, 300350, China