Robotic Insertion

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7 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

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  1. 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

  2. Post-Grasp Kinematic Repair for Robotic Insertion via Object-in-Gripper Reorientation

    Oct 6, 2026Haegu Lee, Christoffer SlothIn-Hand ManipulationRobotic Insertion

    The Maersk Mc-Kinney Moller Institute, University of Southern Denmark, Denmark

  3. 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

  4. InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality

    Sep 21, 2026Zhenghua Ma, Xinpan Meng, Zeyu Liu +4RL for RoboticsContact-Rich Robotic Manipulation

    School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China, and the State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · PaXini AI Technology (Beijing) Co., Ltd., Beijing 100080, China

  5. ContactDP: Contact-Guided Diffusion Policy for Tight Insertion Tasks

    Sep 20, 2026Chengyi Xing, Shaoxiong Yao, Diego Romeres +1Contact-Rich Robotic ManipulationDiffusion Policy

    Mitsubishi Electric Research Labs, Cambridge, MA, US

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

    Sep 17, 2026Tao Sun, Beining Han, Patrick Yin +5RL for RoboticsRobotic Construction

    McGill University · Princeton University · University of Washington

  7. Hybrid Residual Reinforcement Learning for Contact-Rich Robotic Book Insertion

    Sep 17, 2026Tianyuan Liu, Rutherford Agbeshi Patamia, Benjamin Champion +2Contact-Rich Robotic ManipulationRobotic RL

    Deakin University, Australia

  8. Dissecting Motion-Prior Regularization for Data-Scarce Robotic Insertion

    Sep 15, 2026Ning Hu, Shuai Li, Jindong TanTrajectory OptimizationContact-Rich Robotic Manipulation

    Department of Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, Knoxville, TN 37996, USA · Engineering School of Sustainable Infrastructure and Environment, University of Florida, Gainesville, FL 32611, USA

  9. RodForesight: A World Model Enhanced Diffusion Policy for Slender Rod Insertion

    Sep 10, 2026Chuanbo Yu, Mingyu Yue, Yan Lyu +2World Models for RoboticsContact-Rich Robotic Manipulation

    SWJTU-Leeds Joint School, Southwest Jiaotong University, Chengdu, China · School of Mechanical Engineering, University of Leeds, Leeds LS2 9JT, United Kingdom · Southeast University, Nanjing, China +2

  10. Peg-in-Bench: A Modular Benchmark for High-Precision Robotic Insertion

    Sep 1, 2026Yosel Delgado, José G. Buenaventura-Carreón, Floris Erich +4Contact-Rich Robotic ManipulationGeneralization in Robotic Manipulation

    National Institute of Advanced Industrial Science and Technology (AIST), Japan

  11. Preview-Based Relative-Motion Control of an Insertion Tool for Neural-Thread Placement in Pulsating Tissue

    Aug 9, 2026Yongyan Cao, Xiaobo LiContact-Rich Robotic ManipulationRobotic Insertion

    Voryx Robotics LLC, San Jose, CA 95110 USA

  12. A Master-Slave Robot Manipulator for Needle-Based Teleoperation in MRI Chamber

    Aug 6, 2026Omar Curiel, Jing-Yuan Huang, Po-Chih Chen +6Robot TeleoperationRobotics

    Department of Mechanical and Aerospace Engineering, Samueli School of Engineering, University of California, Los Angeles, CA 900095 USA · Horizon Surgical Systems Inc.,Malibu, CA 90265 · Department of Radiological Sciences, University of California, Los Angeles, CA 90095 USA

  13. Bootstrapping Self-Supervised Learning of Binary Classification Using Error Bounds: A Case Study on a Robotic Insertion Task

    Jul 31, 2026Zebin Duan, Norbert Krüger, Juan Heredia +2Self-Supervised LearningRobotic Data Collection

    Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, 5230 Odense M, Denmark · Danish Institute for Advanced Study (DIAS), University of Southern Denmark, 5230 Odense M, Denmark

  14. Eversion-based robots can enable safe access,steering and endoscopic imaging within the spinal subarachnoid space

    Jul 21, 2026Zicong Wu, Panagiotis Kalozoumis, S. M. Hadi Sadati +8Robot NavigationRobotic Insertion

    Department of Surgical & Interventional Engineering, School of Biomedical Engineering & Imaging Sciences, Faculty of Life Sciences & Medicine, King’s College London, London WC2R 2LS, United Kingdom · Department of Computer Science & Biomedical Informatics, University of Thessaly, Lamia 35131, Greece · School of Engineering and Materials Science, Queen Mary University London, London E1 4NS, United Kingdom +2

  15. BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference

    Jul 17, 2026Aditya Kamireddypalli, Matias Mattamala, Joao Moura +3Simulation-Based InferenceContact-Rich Robotic Manipulation

    School of Informatics, University of Edinburgh, Scotland. · Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada.

  16. Learning 3D Affordances for Blade Insertion in Cluttered Stowing

    Jun 25, 2026Tianyu Li, Harpreet Sawhney, Minju Jung +3Robotic Insertion3D Occupancy Prediction

    Amazon Robotics, USA

  17. Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion

    May 22, 2026Remko Proesmans, Thomas Lips, Francis wyffelsRobot Skill LearningRobotic Insertion

    AI and Robotics Lab (IDLab-AIRO), Ghent University—imec, Ghent, Belgium

  18. CoRMA: Contrastive RMA for Contact-Rich Meta-Adaptation

    May 21, 2026Wentian Wang, Chutong Wen, Hongxu Ma +6Robot Policy AdaptationRobot Skill Learning

    Synthoid AI · HKU

  19. 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

  20. Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion

    May 12, 2026Hassen Nigatu, Gaokun Shi, Jituo Li +2Dexterous ManipulationDeep Q-Learning

  21. From Reach to Insert: Tactile-Augmented Precision Assembly under Sub-Millimeter Tolerances

    May 6, 2026Xinpan Meng, Siyao Huang, JingPu Yang +6RL for RoboticsContact-Rich Robotic Manipulation

    State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China · School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China

  22. A Vision-Language-Action Model for Adaptive Ultrasound-Guided Needle Insertion and Needle Tracking

    Apr 22, 2026Yuelin Zhang, Qingpeng Ding, Longxiang Tang +2Robotic InsertionRobotic Ultrasound

    Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong · Department of Computer Science and Engineering, The Hong Kong University of Science and Technology, Hong Kong · Shenzhen International Graduate School, Tsinghua University, China +1

  23. Learning Hybrid-Control Policies for High-Precision In-Contact Manipulation Under Uncertainty

    Apr 21, 2026Hunter L. Brown, Geoffrey Hollinger, Stefan LeeRobotic ControlContact-Rich Robotic Manipulation

    Collaborative Robotics and Intelligent Systems Institute, Oregon State University, Corvallis, OR

  24. Learning Contact Dynamics through Touching: Action-conditional Graph Neural Networks for Robotic Peg Insertion

    Sep 15, 2025Zongyao Yi, Joachim Hertzberg, Martin AtzmuellerGraph Neural NetworksContact-Rich Robotic Manipulation

    German Research Center for Artificial Intelligence, DFKI Niedersachsen, Osnabrück, Germany · Osnabrück University, Institute of Computer Science, Osnabrück, Germany