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. AssemblyBench: Physics-Aware Assembly of Complex Industrial Objects

    May 13, 2026Danrui Li, Jiahao Zhang, Bernhard Egger +4Object Pose EstimationRobot Manipulation Benchmarks

    Rutgers, The State University of New Jersey, USA · The Australian National University, Australia · Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany +1

  2. SI-Diff: A Framework for Learning Search and High-Precision Insertion with a Force-Domain Diffusion Policy

    May 12, 2026Yibo Liu, Stanko Oparnica, Simon Shewchun-Jakaitis +5Contact-Rich Robotic ManipulationDiffusion Policy

    Epson Canada, Markham, Ontario L3R 6G3, Canada · Queen’s University, Kingston, Ontario K7L 3N6, Canada

  3. BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly

    May 8, 2026Jichuan Yu, Bowei Li, Zhenran Tang +4Robotic ConstructionLong-Horizon Robotic Manipulation

    Tsinghua University · Carnegie Mellon University

  4. Visual-Tactile Peg-in-Hole Assembly Learning from Peg-out-of-Hole Disassembly

    Apr 22, 2026Yongqiang Zhao, Xuyang Zhang, Zhuo Chen +3RL for RoboticsContact-Rich Robotic Manipulation

    Department of Engineering, King’s College London, Strand, London, WC2R 2LS, United Kingdom · Department of Informatics, King’s College London, Strand, London, WC2R 2LS, United Kingdom

  5. AssemLM: A Spatial Reasoning Multimodal Large Language Model for Robotic Assembly

    Apr 10, 2026Zhi Jing, Jinbin Qiao, Ouyang Lu +53D Spatial ReasoningRobotic Assembly

    Fudan University† · Institute of Artificial Intelligence (TeleAI), China Telecom† · Tianjin University +3

  6. Learning-Based Strategy for Composite Robot Assembly Skill Adaptation

    Apr 8, 2026Khalil Abuibaid, Aleksandr Sidorenko, Achim Wagner +1Robot Skill LearningRobotic Assembly

    Chair of Machine Tools and Control System, RPTU University Kaiserslautern-Landau, 67663 Kaiserslautern, Germany · Innovative Factory Systems, German Institute of Artificial Intelligence, 67663 Kaiserslautern, Germany · Chair of Machine Tools and Control Systems, RPTU University Kaiserslautern-Landau, 67663 Kaiserslautern, Germany

  7. Long-Reach Robotic Manipulation for Assembly and Outfitting of Lunar Structures

    Mar 31, 2026Stanley Wang, Venny Kojouharov, Long Yin Chung +2Robotic ManipulationSpace Robotics

    Stanford University · All authors are with the Dept. of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA.

  8. A Framework for Closed-Loop Robotic Assembly, Alignment and Self-Recovery of Precision Optical Systems

    Mar 23, 2026Seou Choi, Sachin Vaidya, Caio Silva +4Robotic AssemblyLaboratory Automation

    Research Laboratory of Electronics, Massachusetts Institute of Technology, MA 02139, USA · NSF Institute for Artificial Intelligence and Fundamental Interactions (IAIFI) and the Department of Physics, Massachusetts Institute of Technology, MA 02139, USA · Nokia Bell Labs +1

  9. LASER: Level-Based Asynchronous Scheduling and Execution Regime for Spatiotemporally Constrained Multi-Robot Timber Manufacturing

    Mar 21, 2026Zhenxiang Huang, Lior Skoury, Tim Stark +4Multi-Robot SystemsMulti-Robot Coordination

    Institute for Computational Design and Construction (ICD) and Cluster of Excellence IntCDC at University of Stuttgart, Germany.

  10. ATG-MoE: Autoregressive trajectory generation with mixture-of-experts for assembly skill learning

    Mar 19, 2026Weihang Huang, Chaoran Zhang, Xiaoxin Deng +4Robotic AssemblyMulti-Task Robotic Manipulation

    Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China · Faculty of Engineering, Imperial College London, London SW7 2AZ, United Kingdom

  11. Huddle: Parallel Shape Assembly using Decentralized, Minimalistic Robots

    Mar 18, 2026Khai Yi Chin, Tingwei Meng, Zhe Chen +2Robotic AssemblyMulti-Robot Formation Control

    Amazon Robotics

  12. RoCo Challenge at AAAI 2026: Benchmarking Robotic Collaborative Manipulation for Assembly Towards Industrial Automation

    Mar 16, 2026Haichao Liu, Yuheng Zhou, Zhenyu Wu +14Robot Manipulation BenchmarksRobotic Assembly

    Nanyang Technological University, Singapore · Beijing University of Posts and Telecommunications, Beijing, China · Carnegie Mellon University, Pittsburgh, USA +1

  13. Autonomous Integration and Improvement of Robotic Assembly using Skill Graph Representations

    Mar 13, 2026Peiqi Yu, Philip Huang, Chaitanya Chawla +3Robotic AssemblyRobot Task Planning

    Department of Electrical and Computer Engineering, Carnegie Mellon University · Robotics Institute, Carnegie Mellon University

  14. CoViLLM: An Adaptive Human-Robot Collaborative Assembly Framework Using Large Language Models

    Mar 12, 2026Jiabao Zhao, Jonghan Lim, Hongliang Li +1Human-Robot CollaborationRobotic Assembly

    The Pennsylvania State University, University Park, PA, USA

  15. SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly

    Mar 11, 2026Xiao Liu, Prakash Baskaran, Songpo Li +4Robot TeleoperationHuman-Robot Collaboration

    Authors are with Honda Research Institute USA, San Jose, CA 95134 USA. · Authors are with Honda Research Institute Europe GmbH, 63073 Offenbach am Main, Germany.

  16. ReTac-ACT: A State-Gated Vision-Tactile Fusion Transformer for Precision Assembly

    Mar 10, 2026Minchi Ruan, LiangQing Zhou, Hongtong Li +4Contact-Rich Robotic ManipulationRobotic Assembly

    Beijing University of Posts and Telecommunications, Beijing, China · SunHDex Intelligent Technology (Beijing) Co. Ltd., Beijing, China · University of Hamburg, Hamburg, Germany

  17. Bimanual XR Specification of Relative and Absolute Assembly Hierarchies for Teleoperation

    Mar 2, 2026Benjamin Yang, Xichen He, Charlie Zou +3Robot TeleoperationRobotic Assembly

    Columbia University

  18. SMR-Net:Robot Snap Detection Based on Multi-Scale Features and Self-Attention Network

    Mar 1, 2026Kuanxu HouObject DetectionRobotic Assembly

  19. Learning to Build: Autonomous Robotic Assembly of Stable Structures Without Predefined Plans

    Feb 27, 2026Jingwen Wang, Johannes Kirschner, Paul Rolland +2Robotic ConstructionSequential Decision Making

    Lab of Creative Computation, ´Ecole Polytechnique F´ed´erale de Lausanne · Swiss Data Science Center

  20. MicroPush: A Lightweight Simulator for Sim-to-Real Microrobotic Pushing and Assembly

    Feb 27, 2026Yanda Yang, Zion Lee, Sambeeta DasRobot Policy LearningRobotics Simulation

    Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, USA

  21. SPARR: Simulation-based Policies with Asymmetric Real-world Residuals for Assembly

    Feb 26, 2026Yijie Guo, Iretiayo Akinola, Lars Johannsmeier +3Robotic AssemblySim-to-Real Transfer

    Nvidia · University of Washington

  22. Behavioral Cloning for Robotic Connector Assembly: An Empirical Study

    Feb 25, 2026Andreas Kernbach, Daniel Bargmann, Werner Kraus +1Robotic InsertionRobotic Manipulation

    The authors are with the Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany · Institute of Industrial Manufacturing and Management IFF, University of Stuttgart, Germany

  23. Autonomous Block Assembly for Boom Cranes with Passive Joint Dynamics: Integrated Vision MPC Control

    Feb 17, 2026Gerald Ebmer, Minh Nhat Vu, Tobias Glück +1Robotic ControlRobotic Construction

    Automation & Control Institute (ACIN), TU Wien, Gusshausstrasse 27-29, 1040 Wien, Austria · Center for Vision, Automation & Control, AIT Austrian Institute of Technology GmbH, Giefinggasse 4, 1210 Vienna, Austria

  24. Simulation-based Learning of Electrical Cabinet Assembly Using Robot Skills

    Feb 16, 2026Arik Laemmle, Balázs András Bálint, Philipp Tenbrock +4Robotic AssemblyRobot Skill Learning

    formerly Fraunhofer Institute for Manufacturing Engineering and Automation IPA, Stuttgart, Germany · formerly Institut für Strahlwerkzeuge IFSW, University of Stuttgart, Stuttgart, Germany · Research Laboratory on Engineering and Management Intelligence, Institute for Computer Science and Control SZTAKI, Budapest, Hungary +1

  25. Replanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction

    Feb 16, 2026Taichi Kato, Takuya Kiyokawa, Namiko Saito +1Language-Conditioned Robot ManipulationLarge Language Model-Based Robot Planning

    aDepartment of Systems Science, School of Engineering Science, The University of Osaka, 1-3 Machikaneyama, Toyonaka, Osaka, Japan · bDepartment of Systems Innovation, Graduate School of Engineering Science, The University of Osaka, 1-3 Machikaneyama, Toyonaka, Osaka, Japan · cMicrosoft Research Asia, Shinagawa, Tokyo, Japan +1

  26. From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly

    Jan 2, 2026Yanyi Chen, Min DengHuman-Robot CollaborationRobotic Assembly

    Department of Civil, Environmental, and Construction Engineering, Texas Tech University, Lubbock, TX 79409, USA

  27. Improving dependability in robotized bolting operations

    Nov 13, 2025Lorenzo Pagliara, Vincenzo Petrone, Violeta Redondo +3Industrial RoboticsRobotic Assembly

    Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Via Giovanni Paolo II, 132, Fisciano, 84084, Italy · GTD Science, Infrastructures & Robotics, Av. Leonardo Da Vinci, 2, Madrid, 28906, Spain · Universidad Politécnica de Madrid, Centre for Automation and Robotics (CAR) UPM-CSIC, José Gutiérrez Abascal, 2, Madrid, 28006, Spain

  28. IDfRA: Self-Verification for Iterative Design in Robotic Assembly

    Sep 21, 2025Nishka Khendry, Christos Margadji, Sebastian W. PattinsonRobotic AssemblyRobot Task Planning

    Institute for Manufacturing, Department of Engineering, University of Cambridge