Contact-Rich Assembly

Deformable parts break the assumptions most insertion controllers rely on: the part changes shape as you push it, so position feedback alone is not enough. This proof-of-concept pairs a force-torque residual with a learned compliance schedule and was handed to a business unit for field trials.

Results

On a workcell with no fixturing and tolerances measured in millimetres, the policy completed insertions the scripted baseline could not attempt, and recovered from mis-seats without an operator reset.