Preprint
Sep 2026
InsertAnything: Generalizable Contact-Rich Precision Insertion from Simulation to Reality
Contact-rich precision insertion is a key manipulation skill in robotic assembly. Tight clearances make insertion more sensitive to alignment errors and prone to collisions and jamming, while variations in geometry and clearance across parts further complicate policy reuse. We present a reinforcement learning framework...
Zheng-Feng Ma, Xin-Pan Meng, Ze-Yu Liu et al.
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