Furniture assembly remains an unsolved problem in robotic manipulation due to its long task
horizon and nongeneralizable operations plan. This paper presents the Tactile Ensemble …

Imagine a robot that can assemble a functional product from the individual parts presented
in any configuration to the robot. Designing such a robotic system is a complex problem …

In future smart homes, robots are expected to handle everyday tasks such as cooking,
replacing human involvement. Acquiring such skills autonomously for robots is highly …