mlsanityData to 7 Oct 2026

Automating Deformable Gasket Assembly

arXiv 2408.12593 ↗First posted 22 Aug 2024cs.RO cs.CVcited by 1

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Abstract (arXiv)

In Gasket Assembly, a deformable gasket must be aligned and pressed into a narrow channel. This task is common for sealing surfaces in the manufacturing of automobiles, appliances, electronics, and other products. Gasket Assembly is a long-horizon, high-precision task and the gasket must align with the channel and be fully pressed in to achieve a secure fit. To compare approaches, we present 4 methods for Gasket Assembly: one policy from deep imitation learning and three procedural algorithms. We evaluate these methods with 100 physical trials. Results suggest that the Binary+ algorithm succeeds in 10/10 on the straight channel whereas the learned policy based on 250 human teleoperated demonstrations succeeds in 8/10 trials and is significantly slower. Code, CAD models, videos, and data can be found at https://berkeleyautomation.github.io/robot-gasket/

Key facts. Cited by 1 paper in the map (data through 7 Oct 2026). Builds on 34 of its 73 references that are in the map. First posted on arXiv 22 Aug 2024.

Builds on

34 of 73 references.

References · 34

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22 more
  1. 2023Multi-Stage Cable Routing through Hierarchical Imitation Learningcited by 59
  2. 2019Deep Reinforcement Learning for Industrial Insertion Tasks with Visual Inputs and Natural Rewardscited by 58
  3. 2020Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Datacited by 51
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Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 1.

1 paper.

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