Force-Driven Hook Disassembly via Constraint-Aware Object-Centric Reinforcement
Overview
This research proposes a reinforcement learning framework that uses contact forces to infer feasible disassembly directions for hook-type connections. The method is validated on real-world tasks, achieving success rates of 100%, 100%, 90%, and 75% with improved path efficiency, and significantly raises the success rate on an air-conditioning cover task compared to a baseline policy.
From arXiv Robotics — research abstracts
Event evidence and corrections
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Reported quantity · Reported success rate: 100 percent · Basis not reported
“elief that provides the policy with temporally integrated directional information and reduces redundant exploratory motion. The approach is validated on four real-world tasks, from peg-in-hole pairs to the inner propeller and front cover of an end-of-life air-conditioning unit. The full method achieves success rates of 100%, 100%, 90%, and 75% with the highest path efficiency on every task, and raises the success rat”
Exact source · revision 1Source owner not reported
Reported quantity · task variety: 4 other · Basis not reported
“elief that provides the policy with temporally integrated directional information and reduces redundant exploratory motion. The approach is validated on four real-world tasks, from peg-in-hole pairs to the inner propeller and front cover of an end-of-life air-conditioning unit. The full method achieves success rates of 100%, 100%, 90%, and 75% with the highest path efficiency on every task, and raises the success rat”
Exact source · revision 1Source owner not reported
Evidence dependency changes (1)
- 2026-10-31T04:02:21.265Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalForce-Driven Hook Disassembly via Constraint-Aware Object-Centric Reinforcement Learning
This research proposes a reinforcement learning framework that uses contact forces to infer feasible disassembly directions for hook-type connections. The method is validated on real-world tasks, achieving success rates of 100%, 100%, 90%, and 75% with improved path efficiency, and significantly raises the success rate on an air-conditioning cover task compared to a baseline policy.
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