WRAP: Fixtureless Wrench-aware Multi-Robot Assembly Planning

arXiv:2609.29407 · cs.RO · Submitted 2026-09-24 · Read on arXiv

cs.RO

Submitted: 2026-09-24

Updated: 2026-09-24

Comments: 8 pages, 9 figures, 5 tables

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Ablation — 3× in this paper · explained in 1 episode
• Calibration — 3× in this paper · explained in 7 episodes
• Task Planning — 3× in this paper · explained in 2 episodes
• Benchmark — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• APEX — 1× in this paper · explained in 1 episode
• Abstraction — 1× in this paper · explained in 1 episode
• Antipodal Sampling — 1× in this paper · explained in 1 episode
• Failure Modes — 1× in this paper · explained in 3 episodes
• Generalization — 1× in this paper · explained in 13 episodes

Sources

• PEEL: Parallel Extraction for Long-Horizon Disassembly Planning via Scale-Invariant Sampling
• Cooperative Task and Motion Planning for Multi-Arm Assembly Systems
• Coordinated Multi-Robot Disassembly for Makespan Optimization of Large-Scale Assemblies

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