Kyupaeck Jeff Rah

FORGE-plus: Force-Budgeted Recovery for Contact-Rich Assembly with a Frozen LLM Supervisor

Kyupaeck Jeff Rah, Midum Oh

Force-conditioned reinforcement learning (RL) enables tight-clearance assembly under a commanded force ceiling, but practical deployment requires determining an appropriate force limit for each object and recovering from insertion failures without exceeding it. We present a two-l…Read more