On-Demand Robotic Assembly via Differentiable Geometric Part Repair

arXiv:2610.09777 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/ammar-n-abbas/FoundationPoseROS2

Terminology

• Generative AI — 15× in this paper · explained in 2 episodes
• Adam — 7× in this paper · explained in 2 episodes
• Fidelity — 4× in this paper · explained in 2 episodes
• Ablation — 2× in this paper · explained in 1 episode
• Conference on Robot Learning — 2× in this paper
• Failure Modes — 2× in this paper · explained in 3 episodes
• International Conference on Learning Representations — 2× in this paper
• Physical Constraints — 2× in this paper · explained in 7 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 3 episodes
• GNNs — 1× in this paper · explained in 2 episodes
• Graph Construction — 1× in this paper · explained in 3 episodes
• Graph Neural Network (GNN) — 1× in this paper · explained in 3 episodes
• International Conference on Robotics and Automation — 1× in this paper
• Motion Primitives — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Representation Learning — 1× in this paper · explained in 2 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Prompt-to-Product: Generative Assembly via Bimanual Manipulation
• IDfRA: Self-Verification for Iterative Design in Robotic Assembly
• BrickSim: A Physics-Based Simulator for Manipulating Interlocking Brick Assemblies
• BrickCraft: Visuomotor Skill Composition with Situated Manual Guidance for Long-Horizon Interlocking Brick Assembly
• Adam: A Method for Stochastic Optimization

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