Author

Lin-Jin He

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Preprint Sep 2026

Constraint-Grounded Reinforcement Learning for Variable Impedance Control in Contact-Rich Robotic Insertion

In robotic insertion under uncertain contact, the axial force limit and the appropriate controller gain vary across tasks. As a result, a single fixed gain is unlikely to remain suitable across different task conditions, making conventional impedance controllers reliant on manual retuning. To eliminate manual retuning,...

Lin-Jin He, Min Deng · 2 citations

#artificial intelligence Preprint Sep 2026

From Documented Strengths to Force Limits: Material-Informed Robotic Insertion for Construction Assembly

Insertion is a fundamental operation in robotic construction assembly, where variations in material properties and assembly conditions make it difficult to select contact forces that complete the task without exceeding the assembly's capacity. Although construction documents encode engineering knowledge about materials...

Lin-Jin He, Yan-Yi Chen, Hao Sun et al. · 0 citations